Common-aperture laser emission composite tracking and pointing optical system and tracking and pointing method

Abstract

The invention discloses a common-aperture laser emission composite tracking and pointing optical system and a tracking and pointing method, and mainly solves the technical problems that the power density at a working surface is reduced, the equipment performance is seriously influenced and the working distance of equipment is shortened due to the fact that the existing laser has a larger divergence angle after being emitted by an emission system. Comprising a laser, a tracking imaging objective lens group, a main optical system, a Kuder optical path, a galvanometer, an off-axis collimating lens group and a detector, the main optical system and the Kuder optical path receive target energy and carry out axis folding, the target energy reaches the image surface of the detector through the tracking imaging objective lens group, convergence imaging is carried out, the miss distance of an extracted image is fed back to the galvanometer in real time, the miss distance is corrected to be zero through swinging of the galvanometer, and high-precision composite tracking is achieved. The off-axis collimating mirror group collimates the emitted laser into twelve parallel laser beams, the twelve parallel laser beams are emitted to an object space through the main optical system and the Kuder optical path, the axial position of the secondary reflector is adjusted to control the twelve parallel laser beams to be converged at the same point as a target, and external beam combination is achieved.

Description

Technical Field

[0001] The present invention relates to an optical system, and more particularly to a common-aperture laser emission compound tracking and aiming optical system. Background Art

[0002] The integrated optical system of common-aperture laser emission and compound tracking and aiming is widely used in the fields of laser communication, ghost imaging, lidar, laser ranging, etc. The common-aperture design can realize the co-optical axis and co-pointing of the laser emission and tracking system, and the compound tracking design can realize the synchronous control of tracking, pointing and aiming.

[0003] At present, affected by high-power fiber lasers, it is difficult to guarantee the beam quality. After the laser is emitted by the emission system, it has a large divergence angle, resulting in a decrease in the power density of the working surface, seriously affecting the performance of the equipment and shortening the working distance of the equipment.

[0004] In view of the above problems, the present invention provides a common-aperture laser emission compound tracking and aiming optical system, which adopts a large-aperture long-focal-length Coudé optical path compound tracking mode to avoid the influence of axis errors on the double optical paths, improve the tracking accuracy of the system, and thus reduce the dispersion of the laser on the target surface; and through the multi-channel off-axis collimation and beam combination design, the multi-channel lasers are combined outside the confocal plane, solving the laser divergence effect of high-power laser beams and greatly improving the system efficiency. Summary of the Invention

[0005] The object of the present invention is to solve the technical problem that the existing laser has a large divergence angle after being emitted by the emission system, resulting in a decrease in the power density at the working surface, seriously affecting the performance of the equipment and shortening the working distance of the equipment, and to provide a common-aperture laser emission compound tracking and aiming optical system.

[0006] To solve the above technical problems, the technical solution of the present invention is as follows:

[0007] A common-aperture laser emission compound tracking and aiming optical system, characterized in that it includes a laser, a tracking imaging objective lens group, a main optical system and a Coudé optical path, a galvanometer, an off-axis collimating lens group and a detector;

[0008] The main optical system and the Coudé optical path receive the target energy and perform beam folding, and reach the detector image plane through the tracking imaging objective lens group. The tracking imaging objective lens group performs converging imaging and feeds back the extracted image miss distance to the galvanometer in real time. The galvanometer is arranged in the main optical system and the Coudé optical path, and corrects the miss distance to zero by swinging to achieve high-precision compound tracking; the off-axis collimating lens group collimates the laser emitted by the laser into multiple coaxial parallel laser beams, which are emitted to the object side through the main optical system and the Coudé optical path, and the convergence of the multiple parallel lasers to the same point on the target is controlled by adjusting the axial position of the secondary mirror to achieve external beam combination.

[0009] Further, the main optical system and the Coudé optical path include a protective glass, a concave parabolic reflecting primary mirror, a convex hyperbolic secondary mirror, a horizontal axis through-axis plane reflecting mirror, a first coudé reflecting mirror, a vertical axis through-axis plane reflecting mirror, and a spectral beam splitter arranged in sequence on the optical path; the galvanometer is arranged between the horizontal axis through-axis plane reflecting mirror and the first coudé reflecting mirror; the protective glass seals the laser optical system, and the target energy is converged by the concave parabolic reflecting primary mirror and reaches the convex hyperbolic secondary mirror. One focus of the convex hyperbolic secondary mirror coincides with the focus of the primary mirror, and the target energy is condensed into a parallel light with a small aperture and output. The parallel light is deflected by the horizontal axis through-axis plane reflecting mirror, the galvanometer, the first coudé reflecting mirror, and the vertical axis through-axis plane reflecting mirror and reaches the spectral beam splitter; the spectral beam splitter divides the parallel light into mutually perpendicular transmitted light and reflected light; the tracking imaging objective lens group includes a first lens, a second lens, a third lens, a fourth lens, a fifth lens, and a sixth lens arranged in sequence on the transmitted light path; the transmitted light sequentially passes through the first lens, the second lens, the third lens, the fourth lens, the fifth lens, and the sixth lens, converges the transmitted light, and forms an image on the target surface.

[0010] The off-axis collimating lens group includes an off-axis collimating primary reflecting mirror and a coaxial collimating secondary reflecting mirror arranged in sequence on the laser emission optical path; the off-axis collimating primary reflecting mirror reflects and converges the laser to the coaxial collimating secondary reflecting mirror, and the laser is collimated into parallel light by the coaxial collimating secondary reflecting mirror. The collimated parallel light is reflected by the spectral beam splitter into the main optical system and the Coudé optical path, and is expanded by the main optical system and then emitted to the target.

[0011] Further, the first lens is a meniscus HZF6 positive lens bent towards the image plane; the second lens is a meniscus HLAF4 negative lens bent towards the image plane; the third lens is a positive power cemented lens; the fourth lens is a negative power cemented lens; the fifth lens is a meniscus HQK3L positive lens bent towards the image plane; the sixth lens is a biconvex positive power HZF6 lens.

[0012] Further, the thickness of the first lens is 25 to 35 mm, its front surface is spherical with a radius of curvature of 220 to 225 mm, and its rear surface is spherical with a radius of curvature of 568 to 572 mm; the thickness of the second lens is 15 to 20 mm, its front surface is spherical with a radius of curvature of 240 to 245 mm, and its rear surface is spherical with a radius of curvature of 105 to 110 mm. The distance between the second lens and the first lens is 85 to 95 mm; the first surface of the third lens is spherical, with a thickness of 40 to 45 mm and a radius of curvature of 105 to 110 mm, the second surface is spherical, with a central thickness of 40 to 45 mm and a radius of curvature of -132 to -137 mm, the third surface is spherical, with a central thickness of 20 to 25 mm and a radius of curvature of -197 to -202 mm. The distance between the third lens and the second lens is 1 to 5 mm; the first surface of the fourth lens is spherical, with a thickness of 13 to 18 mm and a radius of curvature of -295 to -300 mm, the second surface is spherical, with a central thickness of 13 to 18 mm and a radius of curvature of 80 to 85 mm, the third surface is spherical, with a central thickness of 18 to 23 mm and a radius of curvature of 120 to 125 mm. The distance between the fourth lens and the third lens is 1 to 5 mm;

[0013] The thickness of the fifth lens is 15 to 20 mm, its front surface is spherical with a radius of curvature of 115 to 120 mm, and its rear surface is spherical with a radius of curvature of 633 to 638 mm. The distance between the fifth lens and the fourth lens is 270 to 275 mm; the thickness of the sixth lens is 15 to 20 mm, its front surface is spherical with a radius of curvature of 348 to 353 mm, and its rear surface is spherical with a radius of curvature of -2737 to -2743 mm. The distance between the sixth lens and the fifth lens is 218 to 223 mm.

[0014] Further, the thickness of the first lens is 30 mm, its front surface is spherical with a radius of curvature of 222.3 mm, and its rear surface is spherical with a radius of curvature of 570.524 mm; the thickness of the second lens is 18 mm, its front surface is spherical with a radius of curvature of 242.98 mm, and its rear surface is spherical with a radius of curvature of 106.152 mm. The distance between the second lens and the first lens is 90 mm; the first surface of the third lens is spherical, with a thickness of 42 mm and a radius of curvature of 107.27 mm, the second surface is spherical, with a central thickness of 42 mm and a radius of curvature of -135.63 mm, the third surface is spherical, with a central thickness of 24 mm and a radius of curvature of -199.53 mm. The distance between the third lens and the second lens is 2 mm;

[0015] The first surface of the fourth lens is spherical, with a thickness of 15 mm, a curvature radius of -296.32 mm, the second surface is spherical, with a central thickness of 15 mm, a curvature radius of 82.41 mm, the third surface is spherical, with a central thickness of 20 mm, a curvature radius of 121.16 mm, and the interval between the fourth lens and the third lens is 2 mm; the thickness of the fifth lens is 18 mm, its front surface is spherical, with a curvature radius of 118.7 mm, the rear surface is spherical, with a curvature radius of 635.064 mm, and the interval between the fifth lens and the fourth lens is 273.7 mm; the thickness of the sixth lens is 17.2 mm, its front surface is spherical, with a curvature radius of 349.82 mm, the rear surface is spherical, with a curvature radius of -2740.458 mm, and the interval between the sixth lens and the fifth lens is 219 mm.

[0016] Further, the surface type of the off-axis collimating primary mirror is a conic surface, the curvature radius of its reflecting surface is -500 to -505 mm, and the aspheric coefficient is -0.1 to -0.5 mm; the surface type of the coaxial collimating secondary mirror is a conic surface, the curvature radius of its reflecting surface is -568 to -573 mm, the aspheric coefficient is 0.1 to 0.5 mm, and the off-axis amount is 96 to 101 mm.

[0017] Further, the surface type of the off-axis collimating primary mirror is a conic surface, the curvature radius of its reflecting surface is -502.175 mm, and the aspheric coefficient is -0.247 mm; the surface type of the coaxial collimating secondary mirror is a conic surface, the curvature radius of its reflecting surface is -569.624 mm, the aspheric coefficient is 0.18 mm, and the off-axis amount is 97.99 mm.

[0018] Further, the surface type of the protective glass is a plane, the curvature radius of its front surface is ∞, the aspheric coefficient is -1, the curvature radius of the rear surface is ∞, and the thickness is 35 mm; the surface type of the concave parabolic reflecting primary mirror is a paraboloid, the curvature radius of its reflecting surface is -2769.7 mm, and the aspheric coefficient is -1; the surface type of the convex hyperbolic secondary mirror is a conic surface, the curvature radius of its reflecting surface is -387.26 mm, and the aspheric coefficient is -1.049; the surface type of the horizontal axis through-axis plane mirror is a plane, the curvature radius of its reflecting surface is ∞; the surface type of the galvanometer is a plane, the curvature radius of its reflecting surface is ∞; the surface type of the first anastigmat is a plane, the curvature radius of its reflecting surface is ∞; the surface type of the vertical axis through-axis plane mirror is a plane, the curvature radius of its reflecting surface is ∞; the surface type of the spectral beam splitter is a plane, the curvature radius of its front surface is ∞, the curvature radius of the rear surface is ∞, and the thickness is 36 mm.

[0019] Furthermore, the off-axis collimating mirror group includes twelve mirror groups with the same optical path. Each mirror group includes an off-axis collimating primary mirror and a coaxial collimating secondary mirror. The laser forms twelve coaxial parallel laser beams through the off-axis collimating mirror group, is refracted by the Coudé optical path, and then emitted through the main optical system to achieve external beam combination at the target. The tracking imaging objective lens group further includes a second folding mirror disposed between the spectral beam splitter and the first lens. The second folding mirror converts the transmitted light into a horizontal state and enters the first lens. The surface type of the second folding mirror is a plane, and the radius of curvature of its reflecting surface is ∞. The distance between the first lens and the second folding mirror is greater than 100 mm.

[0020] Furthermore, a tracking method for a common-aperture laser emission compound tracking and imaging optical system is characterized by comprising the following steps:

[0021] Step 1: The off-axis collimating mirror group collimates the laser into multiple parallel laser beams, emits them towards the object side through the main optical system and the Coudé optical path, and controls the convergence of the twelve parallel laser beams at the same point of the target by adjusting the axial position of the coaxial collimating secondary mirror;

[0022] Step 2: The main optical system and the Coudé optical path receive the laser energy reflected by the target and perform beam folding, and reach the detector image plane through the tracking imaging objective lens group, and the tracking imaging objective lens group performs converging imaging; meanwhile, the detector real-time feeds back the extracted image miss distance to the galvanometer, and the galvanometer corrects the miss distance to zero by swinging to achieve high-precision compound tracking.

[0023] Advantages of the present invention:

[0024] 1. The common-aperture laser emission compound tracking and imaging optical system of the present invention adopts a modular design, divides the optical system into three parts: the main optical system and the Coudé optical path, the tracking imaging objective lens group, and the off-axis collimating mirror group, all of which have imaging quality close to the diffraction limit and can be respectively adjusted, tested and detected.

[0025] 2. In the present invention, the off-axis collimating mirror group adopts a multi-path off-axis collimating and beam combining design, and the twelve-way laser is externally beam combined at a confocal plane, solving the laser divergence effect caused by high-power laser beams.

[0026] 3. The common-aperture laser emission compound tracking and imaging optical system of the present invention adopts the Coudé optical path, and the optical path passes through the axis system of the two-dimensional turntable body, and the optical axis is parallel to the structural axis, eliminating the influence of the vibration generated by the water cooling of the high-power laser on the tracking accuracy.

[0027] 4. The galvanometer of the present invention is located in the main optical system and the Coudé optical path, and the front and back are both modular ideal imaging systems, and its yaw has no influence on the imaging of the optical system. Description of the Drawings

[0028] Figure 1Optical path diagram of a co-aperture laser emission composite tracking and aiming optical system according to the present invention;

[0029] Figure 2 Optical path diagram of the main optical system and the Coudé optical path in an embodiment of the present invention;

[0030] Figure 3 Optical path diagram of the tracking imaging objective lens group in an embodiment of the present invention;

[0031] Figure 4 Array diagram of a twelve-way off-axis collimator lens group in an embodiment of the present invention;

[0032] Figure 5 Optical path diagram of a two-way off-axis collimator lens group in an embodiment of the present invention;

[0033] Figure 6 MTF curve diagram of the composite tracking and aiming optical path at a spatial frequency of 36 lp / mm according to the present invention;

[0034] Figure 7 Wavefront diagram of the off-axis collimator lens group according to the present invention;

[0035] Figure 8 MTF curve diagram of the composite tracking optical path with the maximum swing angle of the galvanometer at a spatial frequency of 36 lp / mm according to the present invention.

[0036] Explanation of reference numerals:

[0037] 1 - Main optical system and Coudé optical path, 11 - Protective glass, 12 - Concave parabolic reflecting primary mirror, 13 - Convex hyperbolic secondary mirror, 14 - Horizontal axis through-axis plane reflecting mirror, 15 - Galvanometer, 16 - First anastigmat, 17 - Vertical axis through-axis plane reflecting mirror, 18 - Spectral beam splitter;

[0038] 2 - Tracking imaging objective lens group, 21 - Second anastigmat, 22 - First lens, 23 - Second lens, 24 - Third lens, 25 - Fourth lens, 26 - Fifth lens, 27 - Sixth lens;

[0039] 3 - Off-axis collimator lens group, 31 - Off-axis collimating primary mirror, 32 - Coaxial collimating secondary mirror. Detailed implementation manners

[0040] The present invention provides a common-aperture laser emission compound tracking and aiming optical system and a tracking and aiming method, which includes a main optical system, a Coudé optical path 1, a galvanometer 15, a tracking imaging objective lens group 2, and an off-axis collimator group 3. The main optical system and the Coudé optical path 1 and the tracking imaging objective lens group 2 form a compound tracking and aiming optical path with a focal length of 5000 mm and a clear aperture of 725 mm, and is applicable to a visible light camera with 1280×1024 pixels and a pixel size of 14μm×14μm. The main optical system and the Coudé optical path 1 and the off-axis collimator group 3 form a laser collimation and emission optical path with a focal length of 865 mm, which can collimate and emit a laser with a core diameter of 20 microns and a NA better than 0.06.

[0041] As Figure 1 shown, the main optical system and the Coudé optical path 1 of a common-aperture laser emission compound tracking and aiming optical system receive the target energy and perform beam folding, pass through the tracking imaging objective lens group 2, and reach the detector image plane. The tracking imaging objective lens group 2 performs converging imaging and feeds back the extracted image miss distance to the galvanometer 15 in real time. The galvanometer 15 corrects the miss distance to zero by swinging, realizing high-precision compound tracking. The off-axis collimator group 3 collimates the laser into twelve parallel laser beams and emits them to the object side through the main optical system and the Coudé optical path 1. By adjusting the axial position of the coaxial collimation secondary mirror 32, the twelve parallel laser beams are converged at the same point on the target, realizing external beam combination.

[0042] As Figure 2 shown, the main optical system and the Coudé optical path 1 include a protective glass 11, a concave parabolic reflecting primary mirror 12, a convex hyperbolic secondary mirror 13, a horizontal axis through-axis plane mirror 14, a first beam folding mirror 16, a vertical axis through-axis plane mirror 17, and a spectral beam splitter 18 arranged in sequence on the optical axis. The galvanometer 15 is arranged between the horizontal axis through-axis plane mirror 14 and the first beam folding mirror 16. The protective glass 11 seals the laser optical system, and the target energy is converged by the concave parabolic reflecting primary mirror 12 to the convex hyperbolic secondary mirror 13. One focus of the convex hyperbolic secondary mirror 13 coincides with the focus of the concave parabolic reflecting primary mirror 12, and the target energy is condensed into a small-aperture parallel light output. The parallel light is refracted by the horizontal axis through-axis plane mirror 14, the galvanometer 15, the first beam folding mirror 16, and the vertical axis through-axis plane mirror 17 and reaches the spectral beam splitter 18. The spectral beam splitter 18 divides the parallel light into transmitted light and reflected light, and the axes of the transmitted light and the reflected light are perpendicular to each other.

[0043] Among them, the surface type of the protective glass 11 is flat, the curvature radius of its front surface is ∞, the aspheric coefficient is -1, the curvature radius of its rear surface is ∞, and the thickness is 35 mm; the surface type of the concave parabolic reflecting primary mirror 12 is parabolic, the curvature radius of its reflecting surface is -2769.7 mm, and the aspheric coefficient is -1; the surface type of the convex hyperbolic secondary mirror 13 is a quadric surface, the curvature radius of its reflecting surface is -387.26 mm, and the aspheric coefficient is -1.049; the surface type of the horizontal-axis through-axis plane reflecting mirror 14 is flat, the curvature radius of its reflecting surface is ∞; the surface type of the galvanometer 15 is flat, the curvature radius of its reflecting surface is ∞; the surface type of the first anastigmat reflecting mirror 16 is flat, the curvature radius of its reflecting surface is ∞; the surface type of the vertical-axis through-axis plane reflecting mirror 17 is flat, the curvature radius of its reflecting surface is ∞; the surface type of the spectral beam splitter 18 is flat, the curvature radius of its front surface is ∞, the curvature radius of its rear surface is ∞, and the thickness is 36 mm.

[0044] As Figure 3 shown, the tracking imaging objective lens group 2 includes a second anastigmat reflecting mirror 21, a first lens 22, a second lens 23, a third lens 24, a fourth lens 25, a fifth lens 26, and a sixth lens 27. In this embodiment, the first lens 22 is a meniscus HZF6 positive lens bent towards the image plane, the second lens 23 is a meniscus HLAF4 negative lens bent towards the image plane, the third lens 24 is a cemented lens with positive optical power, the fourth lens 25 is a cemented lens with negative optical power, the fifth lens 26 is a meniscus HQK3L positive lens bent towards the image plane, and the sixth lens 27 is a biconvex positive optical power HZF6 lens.

[0045] Among them, the thickness of the first lens 22 is 30 mm, its front surface is a spherical surface with a curvature radius of 222.3 mm, its rear surface is a spherical surface with a curvature radius of 570.524 mm, and the interval between the first lens 22 and the second off-axis reflecting mirror 21 is greater than 100 mm; the thickness of the second lens 23 is 18 mm, its front surface is a spherical surface with a curvature radius of 242.98 mm, its rear surface is a spherical surface with a curvature radius of 106.152 mm, and the interval between the second lens 23 and the first lens 22 is 90 mm; the first surface of the third lens 24 is a spherical surface, with a thickness of 42 mm and a curvature radius of 107.27 mm, the second surface is a spherical surface, with a central thickness of 42 mm and a curvature radius of -135.63 mm, the third surface is a spherical surface, with a central thickness of 24 mm and a curvature radius of -199.53 mm, and the interval between the third lens 24 and the second lens 23 is 2 mm; the first surface of the fourth lens 25 is a spherical surface, with a thickness of 15 mm and a curvature radius of -296.32 mm, the second surface is a spherical surface, with a central thickness of 15 mm and a curvature radius of 82.41 mm, the third surface is a spherical surface, with a central thickness of 20 mm and a curvature radius of 121.16 mm, and the interval between the fourth lens 25 and the third lens 24 is 2 mm; the thickness of the fifth lens 26 is 18 mm, its front surface is a spherical surface with a curvature radius of 118.7 mm, its rear surface is a spherical surface with a curvature radius of 635.064 mm, and the interval between the fifth lens 26 and the fourth lens 25 is 273.7 mm;

[0046] The thickness of the sixth lens 27 is 17.2 mm, its front surface is a spherical surface with a curvature radius of 349.82 mm, its rear surface is a spherical surface with a curvature radius of -2740.458 mm, and the interval between the sixth lens 27 and the fifth lens 26 is 219 mm.

[0047] As Figure 4 、 5 shown, the off-axis collimating mirror group 3 includes twelve mirror groups with the same optical path. Each mirror group includes an off-axis collimating primary mirror 31 and a coaxial collimating secondary mirror 32. The laser forms twelve coaxial parallel light beams through the off-axis collimating mirror group 3, and after being refracted by the Coudé optical path, it is emitted through the main optical system to achieve external beam combination at the target; the surface type of the off-axis collimating primary mirror 31 is a quadratic surface, the curvature radius of its reflecting surface is -502.175 mm, and the aspheric coefficient is -0.247 mm; the surface type of the coaxial collimating secondary mirror 32 is a quadratic surface, the curvature radius of its reflecting surface is -569.624 mm, the aspheric coefficient is 0.18 mm, and the off-axis amount is 97.99 mm.

[0048] The tracking method of a common-aperture laser emission composite tracking and aiming optical system includes the following steps: Step 1, the off-axis collimating mirror group 3 collimates the laser into multiple parallel laser beams, which are emitted towards the object side through the main optical system and the Coudé optical path 1, and the axial position of the coaxial collimating secondary mirror 32 is adjusted to control the convergence of twelve parallel laser beams at the same point on the target;

[0049] Step 2, the main optical system and the Coudé optical path 1 receive the laser energy reflected by the target and perform an anastigmatism, pass through the tracking imaging objective lens group 2, reach the detector image plane, and the tracking imaging objective lens group 2 performs convergent imaging; at the same time, the detector real-time feeds back the extracted image off-target amount to the galvanometer 15, and the galvanometer 15 corrects the off-target amount to zero by swinging, realizing high-precision composite tracking.

[0050] The specific parameters of the common-aperture laser emission composite tracking and aiming optical system provided in this embodiment are shown in Table 1.

[0051]

[0052]

[0053]

[0054] Serial number Surface type Radius of curvature / mm Thickness / mm Aspherical coefficient Decentration 31 Quadric surface -502.175 Mirror K＝-0.247 32 Quadric surface -569.624 Mirror K＝0.18 97.99 mm

[0055] As Figure 6 shown, it is the MTF curve graph of the composite tracking and aiming optical path of the present invention at a spatial frequency of 36 lp / mm; as Figure 7 shown, it is the wavefront graph of the off-axis collimating mirror group of the present invention; as Figure 8 shown, it is the MTF curve graph of the composite tracking optical path when the galvanometer has the maximum swing angle at a spatial frequency of 36 lp / mm. It can be concluded from Figure 6 and 7 that the present invention has good optical performance, and it can be concluded from Figure 8 that the deflection of the galvanometer 15 does not affect the optical performance.

[0056] The above is only a description of the preferred embodiment of the present invention, and does not limit the technical solution of the present invention thereto. Any well-known deformation made by those skilled in the art on the basis of the main concept of the present invention belongs to the technical scope to be protected by the present invention.

Claims

1. A common-aperture laser emission compound tracking and aiming optical system, characterized in that: it includes a laser, an off-axis collimating mirror group (3), a main optical system and a Coudé optical path (1), a galvanometer (15), a tracking imaging objective lens group (2) and a detector; the main optical system and the Coudé optical path (1) receive the target energy and perform beam folding, reach the detector image plane through the tracking imaging objective lens group (2), the tracking imaging objective lens group (2) performs convergent imaging, and in real time feeds back the extracted image deviation amount to the galvanometer (15), the galvanometer (15) is arranged in the main optical system and the Coudé optical path (1), and corrects the deviation amount to zero by swinging to achieve high-precision compound tracking; the off-axis collimating mirror group (3) collimates the laser emitted by the laser into multiple coaxial parallel laser beams, emits them to the object side through the main optical system and the Coudé optical path (1), and controls the convergence of the multiple parallel laser beams at the same point by adjusting the axial position of the secondary mirror to achieve external beam combination.

2. The common-aperture laser emission compound tracking and aiming optical system according to claim 1, characterized in that: the main optical system and the Coudé optical path (1) include a protective glass (11), a concave parabolic reflecting primary mirror (12), a convex hyperbolic secondary mirror (13), a horizontal axis through-axis plane mirror (14), a first beam folding mirror (16), a vertical axis through-axis plane mirror (17) and a spectral beam splitter (18) arranged in sequence on the optical path; the galvanometer (15) is arranged between the horizontal axis through-axis plane mirror (14) and the first beam folding mirror (16); the protective glass (11) seals the laser optical system, the target energy is converged by the concave parabolic reflecting primary mirror (12) and reaches the convex hyperbolic secondary mirror (13), one focus of the convex hyperbolic secondary mirror (13) coincides with the primary mirror focus, and the target energy is reduced to a small-aperture parallel light output, and the parallel light reaches the spectral beam splitter (18) after being folded by the horizontal axis through-axis plane mirror (14), the galvanometer (15), the first beam folding mirror (16) and the vertical axis through-axis plane mirror (17); the spectral beam splitter (18) divides the parallel light into mutually perpendicular transmitted light and reflected light; the tracking imaging objective lens group (2) includes a first lens (22), a second lens (23), a third lens (24), a fourth lens (25), a fifth lens (26) and a sixth lens (27) arranged in sequence on the transmitted optical path; the transmitted light sequentially passes through the first lens (22), the second lens (23), the third lens (24), the fourth lens (25), the fifth lens (26) and the sixth lens (27), converges the transmitted light, and forms an image on the target surface; the off-axis collimating mirror group (3) includes an off-axis collimating primary mirror (31) and a coaxial collimating secondary mirror (32) arranged in sequence on the laser emission optical path; the off-axis collimating primary mirror (31) reflects and converges the laser to the coaxial collimating secondary mirror (32), collimates it into parallel light, and the collimated parallel light is reflected by the spectral beam splitter (18) into the main optical system and the Coudé optical path (1), and is emitted to the target after being expanded by the main optical system.

3. The common-aperture laser emission compound tracking and aiming optical system according to claim 2, characterized in that: the first lens (22) is a meniscus HZF6 positive lens bent towards the image plane; the second lens (23) is a meniscus HLAF4 negative lens bent towards the image plane; the third lens (24) is a positive power cemented lens; the fourth lens (25) is a negative power cemented lens; the fifth lens (26) is a meniscus HQK3L positive lens bent towards the image plane; the sixth lens (27) is a biconvex positive power HZF6 lens.

4. The common-aperture laser emission compound tracking and aiming optical system according to claim 3, characterized in that: the thickness of the first lens (22) is 25 - 35 mm, its front surface is a spherical surface with a curvature radius of 220 - 225 mm, and its rear surface is a spherical surface with a curvature radius of 568 - 572 mm; the thickness of the second lens (23) is 15 - 20 mm, its front surface is a spherical surface with a curvature radius of 240 - 245 mm, and its rear surface is a spherical surface with a curvature radius of 105 - 110 mm. The distance between the second lens (23) and the first lens (22) is 85 - 95 mm; the first surface of the third lens (24) is a spherical surface with a thickness of 40 - 45 mm and a curvature radius of 105 - 110 mm, the second surface is a spherical surface with a central thickness of 40 - 45 mm and a curvature radius of -132 - -137 mm, the third surface is a spherical surface with a central thickness of 20 - 25 mm and a curvature radius of -197 - -202 mm. The distance between the third lens (24) and the second lens (23) is 1 - 5 mm; the first surface of the fourth lens (25) is a spherical surface with a thickness of 13 - 18 mm and a curvature radius of -295 - -300 mm, the second surface is a spherical surface with a central thickness of 13 - 18 mm and a curvature radius of 80 - 85 mm, the third surface is a spherical surface with a central thickness of 18 - 23 mm and a curvature radius of 120 - 125 mm. The distance between the fourth lens (25) and the third lens (24) is 1 - 5 mm; the thickness of the fifth lens (26) is 15 - 20 mm, its front surface is a spherical surface with a curvature radius of 115 - 120 mm, and its rear surface is a spherical surface with a curvature radius of 633 - 638 mm. The distance between the fifth lens (26) and the fourth lens (25) is 270 - 275 mm; the thickness of the sixth lens (27) is 15 - 20 mm, its front surface is a spherical surface with a curvature radius of 348 - 353 mm, and its rear surface is a spherical surface with a curvature radius of -2737 - -2743 mm. The distance between the sixth lens (27) and the fifth lens (26) is 218 - 223 mm.

5. The common-aperture laser emission compound tracking and aiming optical system according to claim 4, characterized in that: the thickness of the first lens (22) is 30 mm, its front surface is a spherical surface with a curvature radius of 222.3 mm, and its rear surface is a spherical surface with a curvature radius of 570.524 mm; The thickness of the second lens (23) is 18 mm. Its front surface is a spherical surface with a radius of curvature of 242.98 mm, and its rear surface is a spherical surface with a radius of curvature of 106.152 mm. The distance between the second lens (23) and the first lens (22) is 90 mm; The first surface of the third lens (24) is a spherical surface with a thickness of 42 mm and a radius of curvature of 107.27 mm. The second surface is a spherical surface with a central thickness of 42 mm and a radius of curvature of -135.63 mm. The third surface is a spherical surface with a central thickness of 24 mm and a radius of curvature of -199.53 mm. The distance between the third lens (24) and the second lens (23) is 2 mm; The first surface of the fourth lens (25) is a spherical surface with a thickness of 15 mm and a radius of curvature of -296.32 mm. The second surface is a spherical surface with a central thickness of 15 mm and a radius of curvature of 82.41 mm. The third surface is a spherical surface with a central thickness of 20 mm and a radius of curvature of 121.16 mm. The distance between the fourth lens (25) and the third lens (24) is 2 mm; The thickness of the fifth lens (26) is 18 mm. Its front surface is a spherical surface with a radius of curvature of 118.7 mm, and its rear surface is a spherical surface with a radius of curvature of 635.064 mm. The distance between the fifth lens (26) and the fourth lens (25) is 273.7 mm; The thickness of the sixth lens (27) is 17.2 mm. Its front surface is a spherical surface with a radius of curvature of 349.82 mm, and its rear surface is a spherical surface with a radius of curvature of -2740.458 mm. The distance between the sixth lens (27) and the fifth lens (26) is 219 mm.

6. The common-aperture laser emission composite tracking and aiming optical system according to claim 2, characterized in that: The surface type of the off-axis collimating primary mirror (31) is a conic surface, the radius of curvature of its reflecting surface is -500 to -505 mm, and the aspheric coefficient is -0.1 to -0.5 mm; The surface type of the coaxial collimating secondary mirror (32) is a conic surface, the radius of curvature of its reflecting surface is -568 to -573 mm, the aspheric coefficient is 0.1 to 0.5 mm, and the off-axis amount is 96 to 101 mm.

7. The common-aperture laser emission composite tracking and aiming optical system according to claim 3, characterized in that: The surface type of the off-axis collimating primary mirror (31) is a conic surface, the radius of curvature of its reflecting surface is -502.175 mm, and the aspheric coefficient is -0.247 mm; The surface type of the coaxial collimating secondary mirror (32) is a conic surface, the radius of curvature of its reflecting surface is -569.624 mm, the aspheric coefficient is 0.18 mm, and the off-axis amount is 97.99 mm.

8. The common-aperture laser emission composite tracking and aiming optical system according to claim 2, characterized in that: The surface type of the protective glass (11) is a plane, the radius of curvature of its front surface is ∞, the aspheric coefficient is -1, the radius of curvature of its rear surface is ∞, and the thickness is 35 mm; The surface type of the concave parabolic reflecting primary mirror (12) is a paraboloid, the radius of curvature of its reflecting surface is -2769.7 mm, and the aspheric coefficient is -1; The surface type of the convex hyperbolic secondary mirror (13) is a quadric surface, the radius of curvature of its reflecting surface is -387.26 mm, and the aspheric coefficient is -1.049; The surface type of the horizontal-axis through-axis plane mirror (14) is a plane, and the radius of curvature of its reflecting surface is ∞; The surface type of the galvanometer (15) is a plane, and the radius of curvature of its reflecting surface is ∞; The surface type of the first off-axis reflecting mirror (16) is a plane, and the radius of curvature of its reflecting surface is ∞; The surface type of the vertical-axis through-axis plane mirror (17) is a plane, and the radius of curvature of its reflecting surface is ∞; The surface type of the spectral beam splitter (18) is a plane, the radius of curvature of its front surface is ∞, the radius of curvature of its rear surface is ∞, and the thickness is 36 mm.

9. The common-aperture laser emission compound tracking and aiming optical system according to any one of claims 2 to 8, characterized in that: The off-axis collimating mirror group (3) includes twelve mirror groups with the same optical path. Each mirror group includes an off-axis collimating primary mirror (31) and a coaxial collimating secondary mirror (32). The laser forms twelve coaxial parallel laser beams through the off-axis collimating mirror group (3), is refracted by the Coudé optical path and then emitted through the main optical system, and external beam combination is achieved at the target. The tracking imaging objective lens group (2) further includes a second off-axis reflecting mirror (21) disposed between the spectral beam splitter (18) and the first lens (22); the second off-axis reflecting mirror (21) converts the transmitted light into a horizontal state and is incident on the first lens (22); the surface type of the second off-axis reflecting mirror (21) is a plane, and the radius of curvature of its reflecting surface is ∞; the interval between the first lens (22) and the second off-axis reflecting mirror (21) is greater than 100 mm.

10. The tracking and aiming method of the common-aperture laser emission compound tracking and aiming optical system according to any one of claims 1 to 9, characterized in that, comprises the following steps: Step 1, the off-axis collimating mirror group (3) collimates the laser into multiple parallel laser beams, emits them to the object side through the main optical system and the Coudé optical path (1), and controls the convergence of the twelve parallel laser beams at the same point of the target by adjusting the axial position of the coaxial collimating secondary mirror (32); Step 2, the main optical system and the Coudé optical path (1) receive the laser energy reflected by the target and perform off-axis folding. Through the tracking imaging objective lens group (2), it reaches the detector image plane, and the tracking imaging objective lens group (2) performs convergent imaging; meanwhile, the detector real-time feeds back the extracted image deviation amount to the galvanometer (15), and the galvanometer (15) corrects the deviation amount to zero by swinging, realizing high-precision compound tracking.

Images