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

Abstract

This invention provides an angular vibration compensation method and device for a detection device, belonging to the field of beam jitter control. The angular vibration compensation method includes: reflecting an incident light beam to an imaging component using a mirror mounted on a moving carrier; determining the first angular position of the load relative to the moving carrier under external disturbance signals; and rotating the mirror 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 angle between the incident light beam and the optical axis of the imaging component when the load and the moving carrier remain relatively stationary. This angular vibration compensation method avoids the influence of angular vibration of the moving carrier on the line-of-sight jitter of the imaging component, enabling the imaging component to meet high-precision imaging requirements.

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 Technology

[0002] As humanity's exploration of the universe deepens, deep space exploration missions, such as lunar, Mars, and solar exploration, are developing towards greater distances and more complexities. Compared to near-Earth orbit missions, deep space exploration faces more severe technical challenges: longer tracking and measurement distances, greater signal transmission delays, and longer mission cycles, while also placing higher demands on the pointing accuracy of optical payloads. Among these challenges, an ultra-quiet and ultra-stable environment is a fundamental condition for achieving the performance of payloads in deep space exploration missions.

[0003] However, the on-orbit operating environment of deep space probes is extremely complex, and various factors can induce small-amplitude angular vibrations, seriously threatening the performance of optical payloads. These vibrations mainly originate from three aspects: first, periodic disturbances generated by high-speed rotating components such as momentum wheels; second, intermittent vibrations caused by stepping components such as solar cell drive mechanisms; and third, random impacts such as collisions with space debris. These angular vibrations are characterized by small amplitude (typically on the order of arcseconds), wide frequency range (0.01 Hz to kHz), inherent characteristics (related to spacecraft structural properties), difficulty in measurement and suppression, and interference selectivity (sensitivity to specific frequency bands). These features make micro-angular vibrations a significant challenge 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 the detection device are proposed.

[0005] As a first aspect of the present invention, a method for angular vibration compensation of a detection device is provided, the detection device including a load and an imaging component located on the load, the load being located on a moving carrier, the angular vibration compensation method comprising:

[0006] The incident light beam is reflected to the imaging component using a mirror mounted on a moving carrier;

[0007] Determine the first angular position where the load undergoes angular vibration relative to the moving carrier under external disturbance signal;

[0008] The reflector is rotated according to the first angular position so that the incident beam can enter the imaging component at a preset angle. The preset angle is the angle between the incident beam and the optical axis of the imaging component when the load and the moving carrier are relatively stationary.

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

[0010] The driving voltage is obtained based on the position of the first corner.

[0011] A driving voltage is applied 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 based on the first corner position includes:

[0013] The driving voltage is obtained based on the first corner position and gain;

[0014] The gain is the product of the first sub-gain and the second sub-gain. The first sub-gain represents the effect of the angular vibration of the load on the included angle, and the second sub-gain represents the effect of the rotation of the reflector 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 disturbance signal to the load to cause the load to undergo at least one angular vibration relative to the moving carrier;

[0017] For the i-th reference disturbance signal in at least one reference disturbance signal, determine the second angular position of the load when the i-th reference disturbance signal is applied; where i ≥ 1;

[0018] For the i-th reference perturbation signal in at least one reference perturbation signal, the position of the spot of the incident beam in the imaging component is determined based on the image formed by the incident beam in the imaging component when the i-th reference perturbation signal is applied;

[0019] The first sub-gain is determined based on the second angular position and the first incident angle position corresponding to at least one reference disturbance signal.

[0020] 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 corresponding to at least one reference disturbance signal includes:

[0021] The amplitude of the second angular position is obtained based on the second angular position of the load when the i-th reference disturbance signal is applied;

[0022] The amplitude of the first incident angle position is determined based on the spot of the incident beam at the first incident angle position of the imaging component when the i-th reference perturbation signal is applied;

[0023] The first ratio is obtained by comparing the amplitude at the second angle position with the amplitude at the first incident angle position.

[0024] The first sub-gain is obtained by averaging at least one first ratio corresponding to at least one reference disturbance signal.

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

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

[0027] For the j-th reference voltage in at least one reference voltage, determine the reference angle position of the reflector when the j-th reference voltage is applied;

[0028] For the j-th reference voltage in at least one reference voltage, the position of the spot of the incident beam in the imaging component is determined based on the image formed by the incident beam in the imaging component when the j-th reference voltage is applied;

[0029] The second sub-gain is determined based on the reference angle position and the second incident angle position corresponding to at least one reference voltage.

[0030] According to an embodiment of the present invention, determining the second sub-gain based on the reference angular position and the second incident angular position corresponding to at least one reference voltage includes:

[0031] The magnitude of the reference angular position is obtained from the reference angular position of the reflector when the j-th reference voltage is applied; where j≥1.

[0032] The amplitude at the second incident angle position is obtained based on the spot of the incident beam at the second incident angle position of the imaging component when the j-th reference voltage is applied.

[0033] The second ratio is obtained by comparing the amplitude at the second incident angle position with the amplitude at the reference angle position.

[0034] The second sub-gain is obtained by averaging at least one second ratio corresponding to at least one reference voltage.

[0035] As a second aspect of the present invention, an angular vibration compensation device for a detection apparatus is also provided for implementing the above-described angular vibration compensation method. The detection apparatus includes a load and an imaging component located on the load. The load is located on a moving carrier. The angular vibration compensation device includes:

[0036] A reflector, mounted on a moving carrier, is used to reflect an incident light beam to an imaging assembly;

[0037] The compensation module is suitable for determining the first angular position of the load under external disturbance signal relative to the moving carrier, and rotating the reflector according to the first angular position so that the incident beam enters the imaging component at a preset angle. The preset angle is the angle between the incident beam and the optical axis of the imaging component when the load and the moving carrier are relatively stationary.

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

[0039] An inertial device, mounted on a load, is suitable for detecting the first angular velocity of the load relative to a moving carrier under external disturbance signals.

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

[0041] A driver suitable for rotating a reflector based on a driving voltage so that an incident light beam can enter the imaging component at a preset angle.

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

[0043] The processing module includes:

[0044] The signal transmitting unit is adapted to apply at least one reference disturbance signal to the load to cause the load to undergo at least one angular vibration, and is adapted to cause the control unit to apply at least one reference voltage to the driver to cause the driver to drive the reflector to rotate at least once;

[0045] The compensation module also includes:

[0046] The measuring unit is suitable for measuring the reference angular position of the reflector when the j-th reference voltage is applied; where j≥1;

[0047] Inertial devices are also suitable for detecting the second angular velocity of a load under the action of a reference disturbance signal, and control units are also suitable for obtaining the second angular position of the load based on the second angular velocity.

[0048] The processing module also includes:

[0049] The determining unit is adapted to determine the first incident angle position of the incident beam in the imaging component based on the image formed by the incident beam in the imaging component when the i-th reference perturbation signal is applied, and to determine the second incident angle position of the incident beam in the imaging component based on the image formed by the incident beam in the imaging component when the j-th reference voltage is applied; wherein, i≥1;

[0050] The calculation unit determines a first sub-gain based on the second angular position and the first incident angle position corresponding to at least one reference disturbance signal; and determines a second sub-gain based on the reference angular position and the second incident angle position corresponding to at least one reference voltage.

[0051] According to an embodiment of the present invention, by determining the first angular position of the load angular vibration and controlling the rotation of the reflector, the incident beam enters the imaging component at a preset angle, which can effectively reduce the deviation of the incident angle of the incident beam (i.e., the angle between the incident beam and the optical axis of the imaging component) caused by the load angular vibration. This enables the imaging component to receive a stable incident beam, avoids the influence of the angular vibration of the moving carrier on the line of sight of the imaging component, and enables the imaging component to meet the requirements of high-precision imaging. This is of great significance for application scenarios with high imaging accuracy requirements, such as deep space exploration and high-orbit remote sensing imaging. Attached Figure Description

[0052] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention.

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

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

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

[0056] Figure 4 The results of fast Fourier transform of the angular position of the position-sensitive detector output before and after compensation are shown when the disturbance test signal provided by the embodiment of the present invention is 25Hz.

[0057] Figure 5 The results of fast Fourier transform of the angular position of the position-sensitive detector output before and after compensation are shown when the disturbance test signal provided by the embodiment of the present invention is 75Hz.

[0058] Figure 6 The results of fast Fourier transform of the angular position of the position-sensitive detector output before and after compensation are shown when the disturbance test signal provided by the embodiment of the present invention is 150Hz.

[0059] Explanation of reference numerals in the attached figures

[0060] 1-Load; 2-Imaging component; 3-Motion carrier; 4-Reflector; 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 Implementation

[0061] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and the accompanying drawings. However, this invention can be implemented in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to make the invention thorough and complete, and to fully convey the scope of the invention to those skilled in the art. In the accompanying 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 terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated 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 A flowchart illustrating an angular vibration compensation method for a detection device according to an embodiment of the present invention is shown. The detection device includes a load and an imaging component located on the load.

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

[0065] In operation S1, the incident light beam is reflected to the imaging component using a mirror mounted on the moving carrier.

[0066] Operation S2 determines the first angular position of the load relative to the moving carrier under the influence of an external disturbance signal. The first angular position refers to the angular offset of the load relative to the moving carrier under the influence of the external disturbance signal.

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

[0068] According to embodiments of the present invention, the moving vehicle may be, for example, a satellite or a vehicle. The payload may be an instrument, device, or system for achieving specific detection mission objectives. By determining the first angular position of the payload's angular vibration and controlling the rotation of the reflector, the incident beam is ensured to enter the imaging component at a preset angle. This effectively reduces the incident angle deviation of the incident beam caused by the payload's angular vibration, enabling the imaging component to receive a stable incident beam. This avoids the line-of-sight jitter (jitter of the incident beam relative to the optical axis of the imaging component) caused by the angular vibration of the moving vehicle, allowing the imaging component to meet high-precision imaging requirements. This is of great significance for applications 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 load of the detection device is located on a moving carrier, which is susceptible to angular vibration caused by various external disturbances during movement. This angular vibration compensation method can monitor and respond to the angular vibration of the load in real time, and quickly adjust the reflector, so that the imaging component can maintain a good working state in complex motion environments, thereby improving the adaptability and reliability of the detection device in unstable environments.

[0070] According to embodiments of the present invention, the real-time adjustment mechanism of the reflector can effectively counteract the influence of load angular vibration on the incident beam, maintaining the stability of the beam attitude received by the imaging component. This helps to enhance the stability of the entire detection device system, suppress line-of-sight jitter caused by angular vibration, and reduce uncertainty.

[0071] According to an embodiment of the present invention, in operation S3, the reflector is rotated according to the first angular position, including operations S31 to S32.

[0072] In operation S31, the driving voltage is obtained based on the first corner position.

[0073] In operation S32, a driving voltage is applied 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, the driving voltage is obtained based on the first angular position, realizing the conversion from angular position to electrical signal. The angular position is a key parameter reflecting the angular vibration of the load. Converting it into a driving voltage provides a quantitative basis for subsequent precise control of the mirror rotation. This conversion method makes the control of the mirror rotation more precise, and can make fine adjustments according to the actual angular vibration of the load, ensuring that the rotation angle of the mirror matches the angular vibration of the load, thereby accurately correcting the angular deviation of the incident beam and ensuring that the incident beam enters the imaging component at a preset angle.

[0075] According to an embodiment of the present invention, a driving voltage is applied to the driver, which drives the reflector to rotate based on this voltage. The driver, acting as a bridge connecting the control signal and the reflector, converts electrical signals into mechanical power, driving the reflector to respond quickly. This voltage-driven method features fast response speed and high control precision, enabling rapid adjustment of the reflector and timely compensation for the effects of angular vibrations of the load. When faced with frequent angular vibrations of the load caused by external interference, it can react quickly, maintain the stability of the incident beam attitude, and ensure the normal operation of the imaging components.

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

[0077] (1);

[0078] (2).

[0079] Where U represents the driving voltage and K represents the gain. This indicates the first corner position. K1 represents the first sub-gain, K2 represents the second sub-gain, and the negative sign indicates inversion.

[0080] According to an embodiment of the present invention, the driving voltage is obtained based on the first angular position and the gain, fully considering the dual effects of the angular vibration of the load and the rotation of the reflector on the angle between the incident beam and the optical axis. The first sub-gain reflects how the angular vibration of the load changes the angle between the incident beam and the optical axis of the imaging component, while the second sub-gain reflects the adjustment effect of the reflector's rotation on this angle. The gain obtained by multiplying the two sub-gains can accurately quantify the relationship between the angular position and the driving voltage, thereby enabling the rotation angle of the reflector to more precisely compensate for the angular deviation of the incident beam caused by the angular vibration of the load, effectively suppressing the jitter of the incident beam relative to the optical axis of the imaging component.

[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 disturbance signal is applied to the load to cause the load to undergo at least one angular vibration relative to the moving carrier.

[0083] In operation S322, for the i-th reference disturbance signal in at least one reference disturbance signal, the second angular position of the load when the i-th reference disturbance signal is applied is determined. Where i ≥ 1.

[0084] In operation S323, for the i-th reference perturbation signal in at least one reference perturbation signal, the position of the incident beam spot at the first incident angle of the imaging component is determined based on the image formed by the incident beam in the imaging component when the i-th reference perturbation signal is applied. .

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

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

[0087] According to embodiments of the present invention, determining the first sub-gain based solely on a single measurement is susceptible to interference from various random factors, leading to deviations in the measurement results. However, by applying reference perturbation signals multiple times and acquiring multiple second angle position and multiple first incident angle position data, the errors 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 corresponding to at least one reference disturbance signal includes operations S3241 to S3244.

[0089] In operation S3241, the second angular position of the load is determined based on the application of the i-th reference disturbance signal. The magnitude of the load at the second angular position is obtained. .

[0090] During operation S3242, the spot of the incident beam at the first incident angle position of the imaging component is determined according to the application of the i-th reference perturbation signal. Determine the amplitude of the position at the first incident angle .

[0091] In operation S3243, based on the amplitude of the first incident angle position... Amplitude at the second angle position The ratio is used to obtain the first ratio value. .

[0092] (3). In operation S3244, the average of at least one first ratio corresponding to at least one (e.g., M times) reference disturbance signal is obtained to obtain the first sub-gain. First sub-gain It is represented as follows.

[0093] (4).

[0094] According to embodiments of the present invention, 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 calculation and analysis. The amplitude can intuitively and accurately reflect the degree of change in the angular vibration of the load and the incident angle position of the incident beam. The angular vibration of the load and the first incident angle position of the incident beam will continuously change with external interference and system operation. By obtaining the amplitude of the second angular position, the magnitude of the angular vibration amplitude of the load under the action of the reference disturbance signal can be clearly understood; similarly, the amplitude of the first incident angle position can reflect the maximum degree of change in the angle between the incident beam and the optical axis of the imaging component after being affected by the angular vibration of the load. This amplitude information provides a quantitative basis for subsequent analysis of the influence of the angular vibration of the load on the angle between the incident beam and the optical axis, helps to accurately determine the first sub-gain, and thus achieve precise control of the reflector and improve the stabilization accuracy of the line of sight.

[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, a reference voltage is applied to the driver at least once to cause the driver to drive the reflector to rotate at least once relative to the moving carrier.

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

[0098] In operation S327, for the j-th reference voltage in at least one reference voltage, the position of the incident beam spot at the second incident angle of the imaging assembly is determined based on the image formed by the incident beam in the imaging assembly when the j-th reference voltage is applied. .

[0099] In operation S328, the second sub-gain is determined based on the reference angle position and the second incident angle position corresponding to at least one reference voltage. .

[0100] According to embodiments of the present invention, this method, by applying a reference voltage multiple times and measuring the response of the reflector, can adapt to different operating conditions and external disturbances (such as vibration, temperature changes, etc.), ensuring that the system maintains high accuracy in various environments. Multiple measurements can reduce the impact of measurement errors and random factors on the second sub-gain, thereby improving the reliability and long-term stability of the system.

[0101] According to an embodiment of the present invention, the second sub-gain is determined based on the reference angle position and the second incident angle position corresponding to at least one reference voltage, including 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 reflector when the j-th reference voltage is applied. , where j≥1.

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

[0104] In operation S3283, based on the amplitude at the second incident angle position... Magnitude of reference angular position The ratio is used to obtain the second ratio. The second ratio It is represented as follows.

[0105] (5). In operation S3284, the average of at least one second ratio corresponding to at least one reference voltage (e.g., N times) is obtained to obtain the second sub-gain. The second sub-gain is obtained. It is represented as follows.

[0106] (6).

[0107] As a second aspect of the present invention, an angular vibration compensation device for a detection apparatus is also provided for implementing the above-described angular vibration compensation method.

[0108] Figure 2 A schematic diagram of an angular vibration compensation device according to an embodiment of the present invention is shown. Figure 2 As shown, the angular vibration compensation device includes a reflector 4 and a compensation module 5. The reflector 4 is mounted on the moving carrier 3 and is suitable for reflecting the incident light beam to the imaging assembly 2. The compensation module 5 is suitable for determining the first angular position of the load 1 relative to the moving carrier 3 under external disturbance signal, and rotating the reflector 4 according to the first angular position so that the incident light beam enters the imaging assembly 2 at a preset angle. The preset angle is the angle between the incident light beam and the optical axis of the imaging assembly 2 when the load 1 and the moving carrier 3 remain relatively stationary.

[0109] According to an embodiment of the present invention, the load 1 is susceptible to angular vibration due to external interference, which severely affects the angle at which the imaging assembly 2 receives the incident light beam, leading to blurred or distorted images. The compensation module 5 can determine the first angular position of the load 1 when it undergoes angular vibration under external disturbance signals. The reflector 4 then rotates according to this first angular position, ensuring that the incident light beam always strikes the imaging assembly 2 at a preset angle. This process effectively compensates for the effects of the load 1's angular vibration, ensuring that the imaging assembly 2 receives a stable and accurate incident light beam, thereby ensuring the clarity and accuracy of the image.

[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 load 1 and is adapted to detect a first angular velocity of the load 1 relative to the moving carrier under an external disturbance signal. The control unit 52 is adapted to obtain a first angular position based on the first angular velocity and a driving voltage based on the first angular position. The driver 53 is adapted to drive the reflector 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 mounted on the payload 1 and can sense in real time the first angular velocity of the payload 1 when it undergoes angular vibration relative to the moving carrier under external disturbance signals. In the complex operating environment of the moving carrier 3, such as a satellite, the payload 1 may be subject to external disturbances and angular vibration at any time, making this real-time detection capability of the inertial device 51 crucial. Once a change in angular velocity is detected, the information can be quickly transmitted to the control unit 52, with a short time from the occurrence of angular vibration to system response. When the satellite encounters a collision with space debris, causing instantaneous angular vibration, the inertial device 51 can detect the change in angular velocity in a short time, ensuring that the system can react quickly and reducing the impact of angular vibration on the imaging component 2.

[0112] According to an embodiment of the present invention, the angular vibration compensation device further includes: the angular vibration compensation device further includes: a processing module 6, the processing module 6 including a signal transmitting unit, the signal transmitting unit being adapted to apply at least one reference disturbance signal to the load 1 to cause the load 1 to undergo at least one angular vibration, and being 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 reflector 4 to rotate at least once.

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

[0114] Processing module 6 further includes a determining unit and a calculating unit. The determining unit is adapted to determine the first incident angle position of the incident beam in the imaging component 2 based on the image formed by the incident beam in the imaging component 2 when the i-th reference perturbation signal is applied, and to determine the second incident angle position of the incident beam in the imaging component 2 based on the image formed by the incident beam in the imaging component 2 when the j-th reference voltage is applied. The calculating unit determines the first sub-gain based on the second angle position and the first incident angle position corresponding to at least one reference perturbation signal; and determines the second sub-gain based on the reference angle position and the second incident angle position corresponding to 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 used to transmit the image formed by the incident 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 beam in the imaging component 2 when the j-th reference voltage is applied, and the reference angular position of the reflector 4 when the j-th reference voltage is applied to the processing module 6.

[0116] The following are specific embodiments and in conjunction with Figure 3 The compensation process and compensation effect of the angular vibration compensation device according to an embodiment of the present invention will be described.

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

[0118] like Figure 3 As shown, in this embodiment, a detection device in a real-world scenario was simulated. An angular vibration table 7 with a bandwidth of 25Hz-1000Hz was used to simulate the angular vibration state of the load 1, and a test beam emitted by a laser 8 was used to simulate the incident beam. An air-bearing platform 9 was used to simulate the environment provided by the moving carrier 3. This embodiment uses a position-sensitive detector 10 to evaluate the compensation effect of the angle compensation device. The test beam emitted by the laser 8 is reflected by a reflector 4, and the reflected beam is then reflected again by the reflector 4 and incident on the position-sensitive detector 10. The position-sensitive detector 10 can detect the angular position information of the test beam spot on its photosensitive surface. By measuring the change in the angular position of the test beam spot through the position-sensitive detector 10, the compensation effect of the angle compensation device can be obtained.

[0119] In this embodiment, the inertial device 51 used is a magnetohydrodynamic (MHD) angular velocity sensor, which is used to measure the angular velocity of the angular vibration table 7 in real time. The laser 8 and the MHD angular velocity sensor are mounted on the angular vibration table 7 using fixtures. The angular vibration table 7 is mounted on an air-bearing platform 9. The reflector 4 and the position-sensitive detector 10 are mounted on the air-bearing platform 9 using displacement stages and corresponding fixtures. In a real-world scenario, since the imaging component 2 is mounted on the load 1, when the load 1 undergoes angular vibration relative to the moving carrier 3 under external disturbance signals, the imaging component 2 vibrates along with the load 1, causing the incident beam to jitter relative to the imaging component 2. In this embodiment, since the laser 8 is mounted on the angular vibration table 7, the laser 8 vibrates along with the angular vibration table 7, causing the test beam emitted by the laser 8 to jitter relative to the position-sensitive detector 10. This embodiment is used to calibrate the disturbance suppression capability and disturbance suppression bandwidth of the compensation device. Specific steps are described in detail below.

[0120] Step 1: Adjust the light path.

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

[0122] Step two, measurement of simulated gain.

[0123] The analog gain consists of two parts: the first sub-analog gain of the angular vibration table 7 and the position-sensitive detector 10. and the second sub-analog gain of the reflector 4 to the position-sensitive detector 10 .

[0124] First sub-analog gain The method for determining it is as follows.

[0125] The processing module 6 applies multiple simulated angular vibration signals to the angular vibration table 7. These simulated angular vibration signals are used to induce multiple angular vibrations of specific amplitude and frequency on the angular vibration table 7. When the a-th simulated angular vibration signal is applied, the angular position of the angular vibration table 7 is acquired using a data acquisition card. The angular position of the test beam spot measured by the position-sensitive detector 10 Utilizing the 6 diagonal positions of the processing module and angular position Perform a Fast Fourier Transform and extract the amplitudes of both values. and The amplitude was calculated. and amplitude The first simulated ratio between the two . Repeat the above measurement 10 times, and the first sub-analog gain... The average value of the first analog ratio obtained from ten measurements, i.e., the first sub-analog gain, is expressed as Equation (7).

[0126] (7)

[0127] Second sub-analog gain The method for determining it is as follows.

[0128] The processing module 6 applies multiple analog voltages to the driver 53 via the control unit 52, causing the driver 53 to drive the reflector 4 to rotate multiple times with specific amplitudes and frequencies. During the application of the b-th analog voltage, the angular position of the reflector 4 is acquired using a data acquisition card. The angular position of the test beam spot measured by the position-sensitive detector 10 Using processing module 6 and Perform a Fast Fourier Transform to extract the amplitudes of the two values, which are then divided into amplitude values. and amplitude Calculate the amplitude. and amplitude The second simulated ratio between the two . Repeat the measurement 10 times, and calculate the second sub-analog gain. The average of the second simulation ratios obtained from ten measurements, i.e., the second sub-simulation gain. It is represented by equation (8).

[0129] (8).

[0130] Analog gain It can be expressed as equation (9).

[0131] (9).

[0132] Step 3: Compensation for angular vibration.

[0133] First, a disturbance test signal is generated using processing module 6. This signal is used to control the angular vibration table 7 to generate angular vibrations with a specific amplitude and frequency. A magnetohydrodynamic angular velocity sensor is used to sense the angular velocity of the angular vibration table 7 in real time. This angular velocity is integrated by control unit 52 to obtain the test angular position. .

[0134] Secondly, the test angular position is measured by the magnetohydrodynamic angular velocity sensor. With analog gain Multiplying and inverting the product yields the control voltage for mirror 4. Control voltage It is expressed as equation (10).

[0135] (10).

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

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

[0138] (11).

[0139] in, The amplitude of the angular position of the test beam spot output by the position-sensitive detector 10 after fast mirror compensation. The amplitude of the angular displacement of the test beam spot of the output of the position-sensitive detector 10 before the reflector is compensated.

[0140] Figure 4 The results of fast Fourier transform of the angular position of the output of the position-sensitive detector 10 before and after compensation are shown when the disturbance test signal provided by the embodiment of the present invention is 25Hz.

[0141] like Figure 4 As shown, the horizontal axis represents frequency, and the vertical axis represents amplitude. The value of the horizontal axis is represented by X, and the value of the vertical axis is represented by Y. When the disturbance test signal is 25Hz (i.e., X=25), before the reflector 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 amplitude result of the angular position is 0.272303V, i.e., Y=0.272303. After the reflector 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 amplitude result of the angular position is 0.0103684V, i.e., Y=0.01684. According to formula (11), the disturbance suppression ratio is -28.39dB.

[0142] Figure 5 The results of fast Fourier transform of the angular position of the output of the position-sensitive detector 10 before and after compensation are shown when the disturbance test signal provided by the embodiment of the present invention is 75Hz.

[0143] like Figure 5 As shown, the horizontal axis represents frequency, and the vertical axis represents amplitude. The value of the horizontal axis is represented by X, and the value of the vertical axis is represented by Y. When the disturbance test signal is 75Hz (i.e., X=75), before the reflector 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 amplitude result of the angular position is 0.111239V, i.e., Y=0.111239. After the reflector 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 amplitude result of the angular position is 0.00257437V, i.e., Y=0.00257437. According to formula (11), the disturbance suppression ratio is -32.71dB.

[0144] Figure 6 The results of fast Fourier transform of the angular position of the output of the position-sensitive detector 10 before and after compensation are shown when the disturbance test signal provided by the embodiment of the present invention is 150Hz.

[0145] like Figure 6As shown, the horizontal axis represents frequency, and the vertical axis represents amplitude. The value of the horizontal axis is represented by X, and the value of the vertical axis is represented by Y. When the disturbance test signal is 150Hz (i.e., X=75), before the reflector 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 amplitude result of the angular position is 0.0343645V, i.e., Y=0.0343645. After the reflector 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 amplitude result of the angular position is 0.000341224V, i.e., Y=0.000341224. According to formula (11), the disturbance suppression ratio is -40dB.

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

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

[0148] The above specific embodiments further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for angular vibration compensation of a detection device, the detection device comprising a load and an imaging component located on the load, the load being located on a moving carrier, characterized in that, The angular vibration compensation method includes: Using a reflector installed on the moving vehicle to reflect an incident light beam to the imaging component; Determining a first angular position of the payload relative to the moving vehicle under an external disturbance signal; Rotating the reflector 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; Wherein, the rotating the reflector according to the first angular position includes: Obtaining a driving voltage according to the first angular position; Applying the driving voltage to a driver so that the driver drives the reflector to perform the rotation based on the driving voltage; The obtaining the driving voltage according to the first angular position includes: Obtaining the driving voltage according to 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, and the second sub-gain represents the influence of the rotation of the reflector on the included angle; The relationship between the driving voltage and the first angular position is expressed as: ； Where U represents the driving voltage and K represents the gain. The sign indicates the first corner position, and the negative sign indicates the opposite direction.

2. The angular vibration compensation method according to claim 1, characterized in that, The method for determining the first sub-gain includes the following steps: Applying at least one reference disturbance signal to the payload to cause the payload to have at least one angular vibration relative to the moving vehicle; For the i-th reference disturbance signal in at least one of the at least one reference disturbance signals, determining a second angular position of the payload when the i-th reference disturbance signal is applied; where i≥1; For the i-th reference disturbance signal in at least one of the at least one reference disturbance signals, determining a first 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 i-th reference disturbance signal is applied; 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 disturbance signals.

3. The angular vibration compensation method according to claim 2, characterized in that, The 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 disturbance signals includes: Obtaining an amplitude of the second angular position according to the second angular position of the payload when the i-th reference disturbance signal is applied; Obtaining an 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 component when the i-th reference disturbance signal is applied; Obtaining a first ratio according to the ratio of the amplitude of the second angular position to the amplitude of the first incident angle position; Averaging at least one of the first ratios corresponding to the at least one reference disturbance signals to obtain the first sub-gain.

4. The angular vibration compensation method according to claim 1, characterized in that, The method for determining the second sub-gain includes: Applying at least one reference voltage to the driver to cause the driver to drive the reflector to rotate relative to the moving vehicle at least once; For the j-th reference voltage in at least one of the at least one reference voltages, determining a reference angular position of the reflector when the j-th reference voltage is applied; For at least one of the reference voltages, the position of the spot of the incident beam in the imaging assembly is determined based on the image formed by the incident beam in the imaging assembly when the j-th reference voltage is applied; The second sub-gain is determined based on the reference angle position corresponding to at least one of the reference voltages and the second incident angle position.

5. The angular vibration compensation method according to claim 4, characterized in that, Determining the second sub-gain based on the reference angular position corresponding to at least one of the reference voltages and the second incident angular position includes: The amplitude of the reference angular position is obtained based on the reference angular position of the reflector when the j-th reference voltage is applied; where j≥1; The amplitude at the second incident angle position is obtained based on the spot of the incident beam at the second incident angle position of the imaging component when the j-th reference voltage is applied; The second ratio is obtained by comparing the amplitude at the second incident angle position with the amplitude at the reference angle position. The second sub-gain is obtained by averaging at least one of the second ratios corresponding to the at least one reference voltage.

6. An angular vibration compensation device for a detection apparatus, used to implement the angular vibration compensation method as described in any one of claims 1 to 5, wherein the detection apparatus includes a load and an imaging component located on the load, the load being located on a moving carrier, characterized in that, The angular vibration compensation device includes: A reflector, mounted on the moving carrier, is adapted to reflect an incident light beam to the imaging component; The compensation module is adapted to determine the first angular position of the load under external disturbance signal relative to the moving carrier, 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.

7. The angular vibration compensation device according to claim 6, characterized in that, The compensation module includes: An inertial device, disposed on the load, is suitable for detecting the first angular velocity of the load relative to the moving carrier under external disturbance signals; The control unit is adapted to obtain the first angular position based on the first angular velocity and to obtain the driving voltage based on the first angular position; A 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.

8. The angular vibration compensation device according to claim 7, characterized in that, The angular vibration compensation device further includes: The processing module includes: A signal transmitting unit is adapted to apply at least one reference disturbance signal to the load to cause the load to undergo at least one angular vibration, and is adapted to cause the control unit to apply at least one reference voltage to the driver to cause the driver to drive the reflector to rotate at least once; The compensation module also includes: A measuring unit is used to measure the reference angular position of the reflector when the j-th reference voltage is applied; where j≥1; The inertial device is also adapted to detect the second angular velocity of the load under the action of the reference disturbance signal, and the control unit is also adapted to obtain the second angular position of the load based on the second angular velocity; The processing module further includes: The determining unit is adapted to determine a first incident angle position of the incident beam in the imaging assembly based on the image formed by the incident beam in the imaging assembly when the i-th reference perturbation signal is applied, and to determine a second incident angle position of the incident beam in the imaging assembly based on the image formed by the incident beam in the imaging assembly when the j-th reference voltage is applied; wherein, i≥1; The calculation unit determines the first sub-gain based on the second angular position and the first incident angle position corresponding to each of the at least one reference disturbance signal; and determines the second sub-gain based on the reference angular position and the second incident angle position corresponding to each of the at least one reference voltage.

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