Laser short pulse echo simulation method, system and device for detection tracking

Abstract

The invention relates to the field of photoelectric detection and the technical field of simulation testing, and provides a laser short pulse echo simulation method, system and device for detection tracking. Comprising the following steps: acquiring spatial azimuth coordinates of a plurality of detectors and spatial azimuth coordinates of a laser galvanometer; according to the spatial azimuth coordinates of the detector and the spatial azimuth coordinates of the laser galvanometer, the spatial azimuth coordinates of the detector are converted into a local coordinate system with the laser galvanometer as the center, and the coordinates of the detector are obtained; calculating the azimuth deflection angle of the laser galvanometer according to the coordinates of the detector; galvanometer driving current parameters are calculated according to the azimuth deflection angle of the laser galvanometer; a step-by-step sequential circuit is adopted, a galvanometer driving current parameter is taken as a reference, and laser galvanometers are driven to deflect in sequence, so that laser pulses are captured by a plurality of detectors. According to the invention, through space coordinate dynamic solution and galvanometer accurate control, time division multiplexing of a single laser source to multiple detectors can be realized, and the resource utilization rate is obviously improved.

Description

Technical Field

[0001] The present invention relates to the fields of optoelectronic detection and analog test technology, and provides a method, system and device for simulating laser short pulse echo for detection and tracking. Background Art

[0002] Existing laser echo simulation methods have significant limitations when facing multi-target and dynamic scenarios. The traditional single-light-source fixed optical path scheme can only achieve static single-target simulation and cannot meet the test requirements in complex scenarios; while the multi-target scheme using mechanical scanning can achieve a certain degree of dynamic simulation, but limited by the inertia of the mechanical structure, the response speed can usually only reach the millisecond level, and it is difficult to achieve nanosecond-level high-precision timing control. In addition, although the existing electrical signal injection simulation scheme avoids the limitations of the optical system, it completely loses the key characteristics in the real optical path, such as the atmospheric attenuation effect and the beam divergence characteristic, resulting in a significant deviation between the test results and the actual application scenario. More critically, when multiple detectors work together, the existing technology lacks a unified spatial coordinate system and an accurate timing synchronization mechanism, resulting in difficulty in ensuring the spatial consistency and time accuracy of the simulation signals, seriously affecting the credibility of the test results.

[0003] Although recent research has attempted to use a multi-laser array scheme to improve the simulation ability, this scheme is not only costly, but also faces the technical challenge of difficult synchronization of multiple light sources, and is difficult to promote in practical applications. These technical bottlenecks severely restrict the test and verification capabilities of laser detection equipment in complex environments, and there is an urgent need for a new solution that can take into account multi-target simulation, high-dynamic response and optical authenticity. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the related technologies. For this purpose, the present invention provides a method, system and device for simulating laser short pulse echo for detection and tracking, which realizes time-division multiplexing of a single laser source for multiple detectors, and significantly improves the resource utilization rate.

[0005] The present invention provides a method for simulating laser short pulse echo for detection and tracking, including: S1: Obtain the spatial azimuth coordinates of a plurality of detectors and the spatial azimuth coordinates of a laser galvanometer; S2: According to the spatial azimuth coordinates of the detectors and the spatial azimuth coordinates of the laser galvanometer, transform the spatial azimuth coordinates of the detectors into a local coordinate system centered on the laser galvanometer to obtain detector coordinates; S3: Calculate the azimuth deflection angle of the laser galvanometer according to the detector coordinates; S4: Calculate the galvanometer drive current parameter according to the azimuth deflection angle of the laser galvanometer; S5: Adopt a step-by-step timing circuit, and based on the galvanometer driving current parameters, drive the laser galvanometer to deflect in sequence, so that the laser pulses are captured by several detectors.

[0006] According to a method for simulating laser short pulse echo for detection and tracking provided by the present invention, step S1 includes: S11: Calibrate the absolute position of the detector and the absolute position of the galvanometer through the fusion of a vision marking sensor and a UWB anchor point; S12: According to the absolute position of the detector and the absolute position of the galvanometer, use an inertial measurement unit for calibration to obtain the spatial azimuth coordinates of the detector and the spatial azimuth coordinates of the laser galvanometer.

[0007] According to a method for simulating laser short pulse echo for detection and tracking provided by the present invention, the zero bias calibration process of the inertial measurement unit is as follows: S100: Collect accelerometer data and gyroscope data ; S200: Calculate the accelerometer zero bias value and the gyroscope zero bias value : Among them, is the total amount of static state data, is the ordinal number of static state data, , is the accelerometer data collected in the th static state, is the gyroscope data collected in the th static state, is the gravity vector.

[0008] According to a method for simulating laser short pulse echo for detection and tracking provided by the present invention, the data fusion method used by the inertial measurement unit is as follows: S110: Collect the position , speed and attitude quaternion of the inertial measurement unit in the dynamic state; S120: Adopt Kalman filtering to fuse the position , speed and attitude quaternion data, and the corresponding dynamic model is: Among them, is the first derivative with respect to time, is the first derivative with respect to time, is derived from the dynamic rotation matrix, is the acceleration measurement value of the original output, is the first derivative with respect to time, is the tensor product, is the angular velocity measurement value of the original output; S130: After each calibration time interval, calibrate as follows: wherein, is the calibrated , is the uncalibrated , is the adaptive learning rate, is the matrix transpose.

[0009] According to a method for simulating laser short pulse echo for detection and tracking provided by the present invention, step S2 includes: S21: Establish a local right - hand coordinate system O - XYZ with the spatial azimuth coordinates of the laser galvanometer as the origin, wherein the X - axis direction is the pitch axis direction of the laser galvanometer, the Y - axis is the azimuth axis direction, and the Z - axis is the laser propagation direction; S22: Convert the spatial azimuth coordinates of the detector to the local right - hand coordinate system O - XYZ to obtain the detector coordinates : wherein, is the rotation matrix, is the translation vector.

[0010] According to a method for simulating laser short pulse echo for detection and tracking provided by the present invention, step S3 includes: S31: Calculate the azimuth angle : wherein, is the ordinate of the detector coordinates, is the abscissa of the detector coordinates; S32: Calculate the pitch angle : wherein, is the vertical coordinate of the detector coordinates, is the modulo operation, Detector coordinates; The azimuth deflection angle of the laser galvanometer includes the azimuth angle and the pitch angle .

[0011] A method for simulating the echo of a laser short pulse for detection and tracking provided by the present invention, step S4 includes: S41: Fitting a predetermined angle-current curve according to the azimuth deflection angle of the laser galvanometer: Among them, is the theoretical current value of the azimuth angle, is the first parameter of the azimuth angle, is the second parameter of the azimuth angle, is the theoretical current value of the pitch angle, is the first parameter of the pitch angle, is the second parameter of the pitch angle, is the third parameter of the pitch angle; S42: Adding a hysteresis compensation term: Among them, is the azimuth angle current value, is the azimuth angle current hysteresis compensation term, is the pitch angle current value, is the pitch angle current hysteresis compensation term, is the pitch angle calibration coefficient, is the azimuth angle calibration coefficient, is the sign function.

[0012] A method for simulating the echo of a laser short pulse for detection and tracking provided by the present invention, step S5 includes: S51: Using a PID controller to adjust the output current to reach and ; S52: Based on the time-of-flight method, calculating the pulse emission delay according to the simulated target distance: Among them, is the simulated target distance, is the speed of light; Then, the external inherent delay is eliminated by adjusting the delay through a field programmable gate array, and the generation and triggering timing of the laser short pulse are controlled. The parameters of the laser short pulse satisfy: pulse width adjustment range: 50 ps to 1.5 ns; timing control accuracy: 2 ± 0.5 ns, timing control range: 1 ns to 10,000 ns.

[0013] The present invention also provides a laser short pulse echo simulation system for detection and tracking, including: A coordinate acquisition module, configured to acquire the spatial azimuth coordinates of a plurality of detectors and the spatial azimuth coordinates of a laser galvanometer; according to the spatial azimuth coordinates of the detectors and the spatial azimuth coordinates of the laser galvanometer, convert the spatial azimuth coordinates of the detectors into a local coordinate system centered on the laser galvanometer to obtain detector coordinates. A current calculation module, configured to calculate the azimuth deflection angle of the laser galvanometer according to the detector coordinates; calculate the galvanometer drive current parameters according to the azimuth deflection angle of the laser galvanometer. A capture test module, configured to use a step-by-step timing circuit, and drive the laser galvanometer to deflect in sequence based on the galvanometer drive current parameters, so that the laser pulse is captured by a plurality of detectors.

[0014] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps of the method for simulating a laser short pulse echo for detection and tracking as described in any one of the above are implemented.

[0015] One or more of the above technical solutions in the embodiments of the present invention have at least one of the following technical effects: The method, system, and device for simulating a laser short pulse echo for detection and tracking provided by the present invention control the deflection angle of the galvanometer and the laser emission timing by establishing a spatial coordinate mapping relationship between the laser galvanometer and multiple detectors, realizing the time-sharing and precise projection of a single laser source onto multiple detectors. Through dynamic spatial coordinate calculation and precise galvanometer control, time-sharing multiplexing of a single laser source onto multiple detectors can be achieved, significantly improving resource utilization.

[0016] The additional aspects and advantages of the present invention will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the present invention. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is a schematic flow chart of a method for simulating laser short pulse echo for detection and tracking provided by the present invention.

[0019] Figure 2 It is a synchronous timing diagram of driving a laser galvanometer and a detector in an embodiment of the present invention.

[0020] Figure 3 The simulated echo timing diagram of the embodiment of the present invention.

[0021] Figure 4 It is a schematic structural diagram of a device for simulating laser short pulse echo for detection and tracking provided by the present invention.

[0022] Figure 5 It is a schematic structural diagram of an electronic device provided by the present invention.

[0023] Reference numerals: 101, coordinate acquisition module; 102, current calculation module; 103, capture and test module; 810, processor; 820, communication interface; 830, memory; 840, communication bus. Detailed implementation manners

[0024] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without making creative efforts based on the embodiments in the present invention belong to the scope of protection of the present invention. The following embodiments are used to illustrate the present invention but cannot be used to limit the scope of the present invention.

[0025] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without conflict, those skilled in the art can combine the different embodiments or examples described in this specification and the features of the different embodiments or examples.

[0026] The following combines Figures 1 to 5 Describe the present invention.

[0027] Embodiment AsFigure 1 as shown Figure 1 is a schematic flow chart of a laser short - pulse echo simulation method for detection and tracking provided by the present invention. It includes the following steps: S1: Obtain the spatial azimuth coordinates of several detectors and the spatial azimuth coordinates of a laser galvanometer; S2: According to the spatial azimuth coordinates of the detector and the spatial azimuth coordinates of the laser galvanometer, transform the spatial azimuth coordinates of the detector into a local coordinate system centered on the laser galvanometer to obtain detector coordinates; S3: Calculate the azimuth deflection angle of the laser galvanometer according to the detector coordinates; S4: Calculate the galvanometer drive current parameter according to the azimuth deflection angle of the laser galvanometer; S5: Adopt a step - by - step timing circuit, and drive the laser galvanometer to deflect in sequence based on the galvanometer drive current parameter, so that the laser pulse is captured by several detectors.

[0028] Specifically, step S1 includes: S11: Calibrate the absolute positions of the detector and the galvanometer through the fusion of a vision - marked sensor and UWB anchors; S12: According to the absolute positions of the detector and the galvanometer, use an inertial measurement unit for calibration to obtain the spatial azimuth coordinates of the detector and the spatial azimuth coordinates of the laser galvanometer.

[0029] Specifically, step S1 includes: S11: Calibrate the absolute positions of the detector and the galvanometer through the fusion of a vision - marked sensor and UWB anchors; S12: According to the absolute positions of the detector and the galvanometer, use an inertial measurement unit for calibration to obtain the spatial azimuth coordinates of the detector and the spatial azimuth coordinates of the laser galvanometer.

[0030] The zero - bias calibration process of the inertial measurement unit is as follows: S100: Collect accelerometer data and gyroscope data ; S200: Calculate the accelerometer zero - bias value and the gyroscope zero - bias value : wherein, is the total amount of static - state data, is the ordinal number of static - state data, , is the th accelerometer data collected in the static state, For the th gyroscope data collected in the static state, is the gravity vector.

[0031] The data fusion method used by the inertial measurement unit is as follows: S110: Collect the position , velocity and attitude quaternion of the inertial measurement unit in the dynamic state; S120: Use Kalman filter to fuse the position , velocity and attitude quaternion data, and the corresponding dynamic model is: where, is the first derivative with respect to time, is the first derivative with respect to time, is the dynamic rotation matrix derived from , is the original output acceleration measurement value, is the first derivative with respect to time, is the tensor product, is the original output angular velocity measurement value; S130: After each correction time interval, correct : where, is the corrected , is the before correction, is the adaptive learning rate, is the matrix transpose.

[0032] In this embodiment, four laser detectors are set, and their initial distributions are respectively located at different directional positions of the center of the galvanometer scanner, and the corresponding simulated distances are 1.8 m, 3.6 m, 8.4 m, and 9 m. In order to accurately obtain the spatial position coordinates, the system uses a method of fusing visual markers and UWB (Ultra Wide Band) anchors for calibration. Each detector is installed with an AprilTag two-dimensional code label, and its image coordinates are obtained through a camera, and the initial pose is estimated by combining the triangulation method. At the same time, a number of UWB anchors are arranged to construct a relative positioning network to further improve the positioning accuracy. The two measurement results are input into an extended Kalman filter for fusion processing, and finally the calibration error is controlled within ±5 cm. The coordinate information is transmitted to the main control system in a time-division duplex mode through a BLE 5.0 wireless communication module. During the communication process, a timestamp synchronization mechanism is used to accurately time the data, and the transmission delay is controlled within 5 ms.

[0033] Specifically, step S2 includes: S21: Establish a local right-handed coordinate system O-XYZ with the spatial azimuth coordinates of the galvanometer scanner as the origin, where the X-axis direction is the pitch axis direction of the galvanometer scanner, the Y-axis is the azimuth axis direction, and the Z-axis is the laser propagation direction; S22: Convert the spatial azimuth coordinates of the detector , and transform them into the local right-handed coordinate system O-XYZ to obtain the detector coordinates : Among them, is the rotation matrix, is the translation vector.

[0034] Specifically, step S3 includes: S31: Calculate the azimuth angle : Among them, is the ordinate of the detector coordinates, is the abscissa of the detector coordinates; S32: Calculate the pitch angle : Among them, is the vertical coordinate of the detector coordinates, is the modulo operation, detector coordinates; The azimuth deflection angle of the galvanometer scanner includes the azimuth angle and the pitch angle .

[0035] In this embodiment, the deflection angles of the 4 detectors are calculated respectively as follows: Specifically, step S4 includes: S41: Fit a predetermined angle-current curve according to the azimuth deflection angle of the laser galvanometer: wherein, is the theoretical current value of the azimuth angle, is the first parameter of the azimuth angle, is the second parameter of the azimuth angle, is the theoretical current value of the pitch angle, is the first parameter of the pitch angle, is the second parameter of the pitch angle, is the third parameter of the pitch angle; S42: Add a hysteresis compensation term: wherein, is the azimuth angle current value, is the azimuth angle current hysteresis compensation term, is the pitch angle current value, is the pitch angle current hysteresis compensation term, is the pitch angle calibration coefficient, is the azimuth angle calibration coefficient, is the sign function.

[0036] Specifically, in the embodiment of the present invention, , , , , , , substitute the above values into the predetermined angle-current curve and the hysteresis compensation term formula.

[0037] Specifically, step S5 includes: S51: Use a PID controller to adjust the output current to reach and ; S52: Based on the time-of-flight method, calculate the pulse emission delay according to the simulated target distance: wherein, is the simulated target distance, is the speed of light; Then, the external inherent delay is eliminated by adjusting the delay through a Field Programmable Gate Array (FPGA), and the generation and trigger timing of the laser short pulse are controlled; The following resource optimization strategies are adopted inside the FPGA to improve the timing control efficiency and scalability: the programmable delay line is shared by multi-channel delay modules, and the logic units and lookup table resources are dynamically scheduled; the multi-target pulse scheduling logic adopts a pipeline structure and hierarchical control of the state machine to improve the control throughput rate; all FPGA control modules support modular reconfiguration, and the timing resource allocation is automatically adjusted according to the number of targets; the laser pulse control generates short pulses with high time accuracy through sub-nanosecond phase interpolation and dynamic gating logic.

[0038] The parameters of the laser short pulse satisfy: pulse width adjustment range: 50 ps to 1.5 ns; timing control accuracy: 2 ± 0.5 ns, timing control range: 1 ns to 10,000 ns.

[0039] Specifically, in the scenario of multiple dynamic targets, the system adopts a priority scheduling mechanism to improve the simulation efficiency and authenticity. The priority determination logic is as follows: 1. Moving targets have priority over stationary targets, and the moving speed threshold is set to 0.5 m / s; 2. At the same moment, the target closer to the galvanometer has priority; 3. If the distances are equal, the target with a smaller azimuth deviation is preferentially selected; 4. If the angles are similar, the target that newly enters the scene and has a continuous tracking time of less than 100 ms is preferentially scheduled.

[0040] Figure 2 shows the synchronous timing diagram of driving the laser galvanometer and the detector of the present invention, and multiple-channel synchronization is performed at 20 kHz. Among them, ① corresponds to the first detector in the embodiment, ② corresponds to the second detector in the embodiment, ③ corresponds to the third detector, and ④ corresponds to the fourth detector.

[0041] As Figure 2 and Figure 3 described, the present invention successfully realizes the laser echo simulation of multiple detectors through a single laser source in cooperation with a dynamic galvanometer and a high-precision FPGA synchronization mechanism, and has the advantages of simple structure, high precision, and strong resource utilization rate. It is applicable to various application scenarios such as lidar calibration and optoelectronic countermeasure system testing, and has broad promotion value.

[0042] Among them, Figure 3 is the multi-target echo simulation timing diagram of the present invention, which shows the timing intervals of the pulse signals received by 4 detectors. Figure 3In (a), ① and ② correspond to the first detector and the second detector in the embodiment. Figure 3 In (b), ③ and ④ correspond to the third detector and the fourth detector, and the orange line corresponds to the synchronization timing sequence of the driving laser galvanometer and the detector.

[0043] This mechanism ensures that the system can preferentially simulate the echoes of key targets under resource constraints, improving the test efficiency and simulation coverage.

[0044] As Figure 4 shown, Figure 4 A laser short pulse echo simulation device for detection and tracking provided by the present invention will be described, including the following modules: A coordinate acquisition module 101, configured to acquire the spatial azimuth coordinates of a plurality of detectors and the spatial azimuth coordinates of a laser galvanometer; according to the spatial azimuth coordinates of the detectors and the spatial azimuth coordinates of the laser galvanometer, transform the spatial azimuth coordinates of the detectors into a local coordinate system centered on the laser galvanometer to obtain detector coordinates. A current calculation module 102, configured to calculate the azimuth deflection angle of the laser galvanometer according to the detector coordinates; calculate the galvanometer drive current parameters according to the azimuth deflection angle of the laser galvanometer. A capture test module 103, configured to use a step-by-step timing circuit, and drive the laser galvanometer to deflect in sequence based on the galvanometer drive current parameters, so that the laser pulse is captured by a plurality of detectors.

[0045] Figure 5 Illustrates a schematic physical structure diagram of an electronic device. As Figure 5 shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840. Among them, the processor 810, the communication interface 820, and the memory 830 complete mutual communication through the communication bus 840. The processor 810 can call the logical instructions in the memory 830 to execute a laser short pulse echo simulation method for detection and tracking, and the method includes: S1: Acquire the spatial azimuth coordinates of a plurality of detectors and the spatial azimuth coordinates of a laser galvanometer; S2: According to the spatial azimuth coordinates of the detectors and the spatial azimuth coordinates of the laser galvanometer, transform the spatial azimuth coordinates of the detectors into a local coordinate system centered on the laser galvanometer to obtain detector coordinates; S3: Calculate the azimuth deflection angle of the laser galvanometer according to the detector coordinates; S4: Calculate the galvanometer drive current parameters according to the azimuth deflection angle of the laser galvanometer; S5: Use a step-by-step timing circuit, and drive the laser galvanometer to deflect in sequence based on the galvanometer drive current parameters, so that the laser pulse is captured by a plurality of detectors.

[0046] In addition, when the logical instructions in the above-mentioned memory 830 can be implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0047] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative labor.

[0048] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the technical solution, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium such as ROM / RAM, magnetic disks, optical discs, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or equivalently replace some of the technical features. However, such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

[0050] It should be noted that the embodiments of the present disclosure can be implemented by hardware, software, or a combination of software and hardware. The hardware part can be implemented using dedicated logic; the software part can be stored in a memory and executed by a suitable instruction execution system such as a microprocessor or dedicated designed hardware. Those skilled in the art can understand that the above-mentioned devices and methods can be implemented using computer-executable instructions and / or included in processor control code, for example, such code is provided on a programmable memory or a data carrier such as an optical or electronic signal carrier.

[0051] In addition, although the operations of the method of the present disclosure are described in a specific order in the drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. On the contrary, the order of execution of the steps depicted in the flowchart can be changed. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution. It should also be noted that the features and functions of two or more devices according to the present disclosure can be embodied in one device. Conversely, the features and functions of one device described above can be further divided and embodied by multiple devices.

[0052] Although the present disclosure has been described with reference to several specific embodiments, it should be understood that the present disclosure is not limited to the specific embodiments disclosed. The present disclosure aims to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A method for simulating the echo of a short laser pulse for detection and tracking, characterized in that, Including: S1: Obtain the spatial azimuth coordinates of several detectors and the spatial azimuth coordinates of the galvanometer; S2: According to the spatial azimuth coordinates of the detectors and the spatial azimuth coordinates of the galvanometer, transform the spatial azimuth coordinates of the detectors into a local coordinate system centered on the galvanometer to obtain detector coordinates; S3: Calculate the azimuth deflection angle of the galvanometer according to the detector coordinates; S4: Calculate the galvanometer drive current parameters according to the azimuth deflection angle of the galvanometer; S5: Adopt a step-by-step timing circuit, and drive the galvanometer to deflect in sequence based on the galvanometer drive current parameters, so that the laser pulse is captured by several detectors, and complete the simulation of the laser short pulse echo.

2. The method for simulating the echo of a laser short pulse for detection and tracking according to claim 1, wherein Step S1 includes: S11: Calibrate the absolute position of the detector and the absolute position of the galvanometer through the fusion of the visual marking sensor and the UWB anchor point; S12: According to the absolute position of the detector and the absolute position of the galvanometer, perform data fusion calibration using the inertial measurement unit to obtain the spatial azimuth coordinates of the detector and the spatial azimuth coordinates of the galvanometer.

3. A method for simulating the echo of a laser short pulse for detection and tracking according to claim 2, characterized in that, The zero bias calibration process of the inertial measurement unit is: S100: Collect accelerometer data in a static state and gyroscope data ; S200: Calculate the accelerometer zero bias value and the gyroscope zero bias value : Among them, is the total amount of static state data, is the ordinal number of static state data, , is the th accelerometer data collected in the static state, is the th gyroscope data collected in the static state, is the gravity vector.

4. A method for simulating laser short-pulse echo for detection and tracking according to claim 3, characterized in that, The data fusion calibration method used by the inertial measurement unit is: S110: Collect the position of the inertial measurement unit in a dynamic state , speed and attitude quaternion ; S120: Adopt Kalman filter to fuse position , velocity and attitude quaternion data, and the corresponding dynamic model is: Among them, is the first derivative with respect to time, is the first derivative with respect to time, is the dynamical rotation matrix derived from the acceleration measurement value of the original output, is the first derivative with respect to time, is the tensor product, and is the angular velocity measurement value of the original output; S130: After every calibration time interval, calibrate : Among them, is the corrected , is the one before correction , is the adaptive learning rate, is the matrix transpose.

5. A method for simulating laser short - pulse echo for detection and tracking according to claim 1, characterized in that, Step S2 includes: S21: Establish a local right-handed coordinate system O-XYZ with the spatial azimuth coordinates of the galvanometer as the origin, where the X-axis direction is the pitch axis direction of the galvanometer, the Y-axis is the azimuth axis direction, and the Z-axis is the laser propagation direction; S22: Convert the spatial azimuth coordinates of the detector to the local right-handed coordinate system O-XYZ to obtain the detector coordinates : Among them, is a rotation matrix, is a translation vector.

6. A method for simulating laser short pulse echo for detection and tracking according to claim 1, characterized in that, Step S3 includes: S31: Calculate the azimuth angle : Among them, is the ordinate of the detector coordinate, is the abscissa of the detector coordinate; S32: Calculate the pitch angle : Among them, is the vertical coordinate of the detector coordinate, is the modulo operation, detector coordinate; The azimuth deflection angle of the laser galvanometer includes the azimuth angle and the pitch angle .

7. A method for simulating laser short pulse echo for detection and tracking according to claim 6, characterized in that Step S4 includes: S41: Fit a predetermined angle-current curve according to the azimuth deflection angle of the galvanometer: Wherein, is the theoretical current value of the azimuth angle, is the first parameter of the azimuth angle, is the second parameter of the azimuth angle, is the theoretical current value of the elevation angle, is the first parameter of the elevation angle, is the second parameter of the elevation angle, is the third parameter of the elevation angle; S42: Add a hysteresis compensation term: Among them, is the azimuth current value, is the azimuth current lag compensation term, is the pitch current value, is the pitch current lag compensation term, is the pitch calibration coefficient, is the azimuth calibration coefficient, is the sign function.

8. A method for simulating laser short pulse echo for detection and tracking according to claim 7, characterized in that Step S5 includes: S51: Adjust the output current using a PID controller to reach and ; S52: Based on the time-of-flight method, calculate the pulse emission delay according to the simulated target distance : Among them, is the simulated target distance, is the speed of light; Then, adjust the delay through the field programmable gate array to eliminate the external inherent delay, and control the generation and trigger timing of the laser short pulse; The parameters of the laser short pulse satisfy: pulse width adjustment range: 50 ps to 1.5 ns; timing control accuracy: 2 ± 0.5 ns, timing control range: 1 ns to 10,000 ns.

9. A laser short pulse echo simulation system for detection and tracking, which is used to execute a laser short pulse echo simulation method according to any one of claims 1 to 8, characterized in that, Including: A coordinate acquisition module, configured to obtain the spatial azimuth coordinates of several detectors and the spatial azimuth coordinates of the galvanometer; according to the spatial azimuth coordinates of the detectors and the spatial azimuth coordinates of the galvanometer, transform the spatial azimuth coordinates of the detectors into a local coordinate system centered on the galvanometer to obtain detector coordinates; A current calculation module, configured to calculate the azimuth deflection angle of the galvanometer according to the detector coordinates; calculate the galvanometer drive current parameters according to the azimuth deflection angle of the galvanometer; A capture test module, configured to adopt a step-by-step timing circuit, and drive the galvanometer to deflect in sequence based on the galvanometer drive current parameters, so that the laser pulse is captured by several detectors, and complete the simulation of the laser short pulse echo.

10. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein, When the processor executes the computer program, it implements the steps of the method for simulating the laser short pulse echo for detection and tracking according to any one of claims 1 to 8.

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