A method, system and device for simulating laser short pulse echoes for detection and tracking

Abstract

The present invention relates to the field of photoelectric detection and simulation test technology, and provides a method, system and device for simulating laser short pulse echoes for detection and tracking. The method comprises the following steps: obtaining the spatial orientation coordinates of several detectors and the spatial orientation coordinates of a laser galvanometer; according to the spatial orientation coordinates of the detector and the spatial orientation coordinates of the laser galvanometer, converting the spatial orientation coordinates of the detector into a local coordinate system centered on the laser galvanometer to obtain the detector coordinates; calculating the azimuth deflection angle of the laser galvanometer according to the azimuth deflection angle of the laser galvanometer; using a step-by-step timing circuit, with the galvanometer driving current parameters as a reference, sequentially driving the laser galvanometer to deflect, so that the laser pulse is captured by several detectors. The present invention can realize time-sharing multiplexing of a single laser source to multiple detectors through dynamic solution of spatial coordinates and precise control of the galvanometer, significantly improving resource utilization.

Description

Technical Field

[0001] The present invention relates to the field of photoelectric detection and simulation test technology, and provides a laser short pulse echo simulation method, system and device 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 solution can only achieve static single-target simulation and cannot meet the testing requirements in complex scenarios; and the multi-target solution using mechanical scanning can achieve a certain degree of dynamic simulation, but it is limited by the inertia of the mechanical structure, and the response speed can usually only reach the millisecond level, making it difficult to achieve high-precision timing control at the nanosecond level. In addition, although the existing electrical signal injection simulation solution circumvents the limitations of the optical system, it completely loses the key characteristics of the real optical path, such as the atmospheric attenuation effect and the beam divergence characteristics, resulting in significant deviations between the test results and the actual application scenarios. More critically, when multiple detectors work together, the existing technology lacks a unified spatial coordinate system and a precise timing synchronization mechanism, which makes it difficult to ensure the spatial consistency and temporal accuracy of the simulated signal, seriously affecting the credibility of the test results.

[0003] While recent research has attempted to improve simulation capabilities by employing multi-laser arrays, this approach is not only costly but also faces technical challenges in synchronizing multiple light sources, making it difficult to scale in practical applications. These technical bottlenecks severely restrict the ability to test and verify laser detection equipment in complex environments. A new solution is urgently needed that balances multi-target simulation, high dynamic response, and optical realism. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention provides a method, system, and device for simulating short-pulse laser echoes for detection and tracking, which enables time-sharing multiplexing of multiple detectors using a single laser source, significantly improving resource utilization.

[0005] The present invention provides a method for simulating laser short pulse echoes for detection and tracking, comprising:

[0006] S1: Obtain the spatial orientation coordinates of several detectors and the spatial orientation coordinates of the laser galvanometer;

[0007] S2: According to the spatial orientation coordinates of the detector and the spatial orientation coordinates of the laser galvanometer, the spatial orientation coordinates of the detector are converted into a local coordinate system centered on the laser galvanometer to obtain the detector coordinates;

[0008] S3: Calculate the azimuth deflection angle of the laser galvanometer according to the detector coordinates;

[0009] S4: Calculate the galvanometer drive current parameters according to the azimuth deflection angle of the laser galvanometer;

[0010] S5: Using a step-by-step timing circuit, based on the galvanometer drive current parameters, the laser galvanometer is driven to deflect in sequence, so that the laser pulse is captured by several detectors.

[0011] According to a method for simulating laser short pulse echoes for detection and tracking provided by the present invention, step S1 includes:

[0012] S11: Calibrate the absolute position of the detector and the absolute position of the galvanometer through the fusion of the visual marker sensor and the UWB anchor point;

[0013] S12: Calibrate the absolute position of the detector and the absolute position of the galvanometer using an inertial measurement unit to obtain the spatial orientation coordinates of the detector and the spatial orientation coordinates of the laser galvanometer.

[0014] According to a laser short pulse echo simulation method for detection and tracking provided by the present invention, the zero bias calibration process of the inertial measurement unit is as follows:

[0015] S100: Collecting accelerometer data in static state and gyroscope data ;

[0016] S200: Calculate accelerometer bias value and gyroscope bias :

[0017]

[0018]

[0019] in, is the total amount of static state data, is the static state data ordinal number, , For the The accelerometer data is collected in a static state. For the Gyroscope data is collected in a static state. is the gravity vector.

[0020] According to a laser short pulse echo simulation method for detection and tracking provided by the present invention, the data fusion method used by the inertial measurement unit is:

[0021] S110: Acquisition of the position of the inertial measurement unit in a dynamic state ,speed and attitude quaternion ;

[0022] S120: Using Kalman filter to fuse position ,speed and attitude quaternion The corresponding dynamic model is:

[0023]

[0024] in, for The first derivative with respect to time, for The first derivative with respect to time, for the reason The derived dynamic rotation matrix, is the acceleration measurement value of the original output, for The first derivative with respect to time, is the tensor product, is the original output angular velocity measurement value;

[0025] S130: After each interval calibration time, To make a correction:

[0026]

[0027] in, After correction , Before correction , is the adaptive learning rate, Transpose the matrix.

[0028] According to a method for simulating laser short pulse echoes for detection and tracking provided by the present invention, step S2 includes:

[0029] S21: Establish a local right-handed coordinate system O-XYZ with the spatial orientation coordinates of the laser galvanometer as the origin, where the X-axis direction is the pitch axis direction of the laser galvanometer, the Y-axis direction is the azimuth axis direction, and the Z-axis direction is the laser propagation direction;

[0030] S22: The spatial orientation coordinates of the detector , transform to the local right-handed coordinate system O-XYZ to obtain the detector coordinates :

[0031]

[0032] in, is the rotation matrix, is the transverse vector.

[0033] According to a method for simulating laser short pulse echoes for detection and tracking provided by the present invention, step S3 includes:

[0034] S31: Calculate azimuth :

[0035]

[0036] in, is the ordinate of the detector coordinate, is the abscissa of the detector coordinate;

[0037] S32: Calculate pitch angle :

[0038]

[0039] in, is the vertical coordinate of the detector coordinate, For the modulo operation, Detector coordinates;

[0040] The azimuth deflection angle of the laser galvanometer includes the azimuth angle and pitch angle .

[0041] According to a method for simulating laser short pulse echoes for detection and tracking provided by the present invention, step S4 includes:

[0042] S41: fitting a predetermined angle-current curve according to the azimuth deflection angle of the laser galvanometer:

[0043]

[0044]

[0045] in, is the theoretical azimuth current value, is the first azimuth parameter, 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;

[0046] S42: Add hysteresis compensation term:

[0047]

[0048]

[0049]

[0050]

[0051] in, is the azimuth current value, is the azimuth 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 calibration coefficient, is a symbolic function.

[0052] According to a method for simulating laser short pulse echoes for detection and tracking provided by the present invention, step S5 includes:

[0053] S51: Use PID controller to adjust the output current to achieve and ;

[0054] S52: Calculate pulse transmission delay based on simulated target distance based on time of flight method :

[0055]

[0056] in, To simulate the target distance, is the speed of light;

[0057] Then, the delay is adjusted by the field programmable gate array to eliminate the external inherent delay and control the generation and triggering timing of the laser short pulse;

[0058] The parameters of the laser short pulse meet the following requirements: pulse width adjustment range: 50ps~1.5ns; timing control accuracy: 2±0.5ns; timing control range: 1ns~10000ns.

[0059] The present invention also provides a laser short pulse echo simulation system for detection and tracking, comprising:

[0060] A coordinate acquisition module is used to obtain the spatial orientation coordinates of several detectors and the spatial orientation coordinates of the laser galvanometer; based on the spatial orientation coordinates of the detectors and the spatial orientation coordinates of the laser galvanometer, the spatial orientation coordinates of the detectors are converted into a local coordinate system centered on the laser galvanometer to obtain the detector coordinates;

[0061] The current calculation module is used to calculate the azimuth deflection angle of the laser galvanometer according to the detector coordinates; and calculate the galvanometer driving current parameters according to the azimuth deflection angle of the laser galvanometer;

[0062] The capture test module is used to use a step-by-step timing circuit and, based on the galvanometer drive current parameter, sequentially drive the laser galvanometer to deflect, so that the laser pulse is captured by several detectors.

[0063] The present invention also provides an electronic device comprising a memory, a processor and a computer program stored in the memory and runnable on the processor, wherein when the processor executes the program, the steps of a laser short pulse echo simulation method for detection and tracking as described in any one of the above are implemented.

[0064] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0065] The present invention provides a method, system and device for simulating laser short pulse echoes for detection and tracking. By establishing a spatial coordinate mapping relationship between a laser galvanometer and multiple detectors, the galvanometer deflection angle and laser emission timing are controlled to achieve time-sharing precise projection of a single laser source onto multiple detectors. Through dynamic solution of spatial coordinates and precise control of the galvanometer, time-sharing multiplexing of multiple detectors by a single laser source can be achieved, significantly improving resource utilization.

[0066] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0068] Figure 1 It is a flow chart of a laser short pulse echo simulation method for detection and tracking provided by the present invention.

[0069] Figure 2 This is a synchronous timing diagram of driving the laser galvanometer and the detector according to an embodiment of the present invention.

[0070] Figure 3 A timing diagram of simulated echoes according to an embodiment of the present invention.

[0071] Figure 4 It is a structural schematic diagram of a laser short pulse echo simulation device for detection and tracking provided by the present invention.

[0072] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention.

[0073] Reference numerals:

[0074] 101. Coordinate acquisition module; 102. Current calculation module; 103. Capture test module; 810. Processor; 820. Communication interface; 830. Memory; 840. Communication bus. DETAILED DESCRIPTION

[0075] To make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below. Obviously, the embodiments described are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0076] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer 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, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0077] The following combination Figures 1 to 5 The present invention is described.

[0078] Example

[0079] like Figure 1 As shown, Figure 1 This is a flow chart of a method for simulating short laser pulse echoes for detection and tracking provided by the present invention. The method includes the following steps:

[0080] S1: Obtain the spatial orientation coordinates of several detectors and the spatial orientation coordinates of the laser galvanometer;

[0081] S2: According to the spatial orientation coordinates of the detector and the spatial orientation coordinates of the laser galvanometer, the spatial orientation coordinates of the detector are converted into a local coordinate system centered on the laser galvanometer to obtain the detector coordinates;

[0082] S3: Calculate the azimuth deflection angle of the laser galvanometer according to the detector coordinates;

[0083] S4: Calculate the galvanometer drive current parameters according to the azimuth deflection angle of the laser galvanometer;

[0084] S5: Using a step-by-step timing circuit, based on the galvanometer drive current parameters, the laser galvanometer is driven to deflect in sequence, so that the laser pulse is captured by several detectors.

[0085] Specifically, step S1 includes:

[0086] S11: Calibrate the absolute position of the detector and the absolute position of the galvanometer through the fusion of the visual marker sensor and the UWB anchor point;

[0087] S12: Calibrate the absolute position of the detector and the absolute position of the galvanometer using an inertial measurement unit to obtain the spatial orientation coordinates of the detector and the spatial orientation coordinates of the laser galvanometer.

[0088] Specifically, step S1 includes:

[0089] S11: Calibrate the absolute position of the detector and the absolute position of the galvanometer through the fusion of the visual marker sensor and the UWB anchor point;

[0090] S12: Calibrate the absolute position of the detector and the absolute position of the galvanometer using an inertial measurement unit to obtain the spatial orientation coordinates of the detector and the spatial orientation coordinates of the laser galvanometer.

[0091] The zero bias calibration process of the inertial measurement unit is as follows:

[0092] S100: Collecting accelerometer data in static state and gyroscope data ;

[0093] S200: Calculate accelerometer bias value and gyroscope bias :

[0094]

[0095]

[0096] in, is the total amount of static state data, is the static state data ordinal number, , For the The accelerometer data is collected in a static state. For the Gyroscope data is collected in a static state. is the gravity vector.

[0097] The data fusion method used by the inertial measurement unit is:

[0098] S110: Acquisition of the position of the inertial measurement unit in a dynamic state ,speed and attitude quaternion ;

[0099] S120: Using Kalman filter to fuse position ,speed and attitude quaternion The corresponding dynamic model is:

[0100]

[0101] in, for The first derivative with respect to time, for The first derivative with respect to time, for the reason The derived dynamic rotation matrix, is the acceleration measurement value of the original output, for The first derivative with respect to time, is the tensor product, is the original output angular velocity measurement value;

[0102] S130: After each interval calibration time, To make a correction:

[0103]

[0104] in, After correction , Before correction , is the adaptive learning rate, Transpose the matrix.

[0105] In this embodiment, four laser detectors are initially positioned at different locations along the center of the laser galvanometer, corresponding to simulated distances of 1.8m, 3.6m, 8.4m, and 9m, respectively. To accurately obtain spatial coordinates, the system uses a fusion of visual markers and UWB (Ultra Wide Band) anchors for calibration. Each detector is equipped with an AprilTag QR code tag, and its image coordinates are acquired via a camera. Initial pose estimation is performed using triangulation. Several UWB anchors are deployed to construct a relative positioning network, further improving positioning accuracy. The two measurement results are fed into an extended Kalman filter for fusion processing, resulting in a final calibration error within ±5cm. Coordinate information is transmitted to the main control system via a BLE 5.0 wireless communication module in time-division duplex mode. During communication, a timestamp synchronization mechanism is used to precisely time the data, keeping transmission latency within 5ms.

[0106] Specifically, step S2 includes:

[0107] S21: Establish a local right-handed coordinate system O-XYZ with the spatial orientation coordinates of the laser galvanometer as the origin, where the X-axis direction is the pitch axis direction of the laser galvanometer, the Y-axis direction is the azimuth axis direction, and the Z-axis direction is the laser propagation direction;

[0108] S22: The spatial orientation coordinates of the detector , transform to the local right-handed coordinate system O-XYZ to obtain the detector coordinates :

[0109]

[0110] in, is the rotation matrix, is the transverse vector.

[0111] Specifically, step S3 includes:

[0112] S31: Calculate azimuth :

[0113]

[0114] in, is the ordinate of the detector coordinate, is the abscissa of the detector coordinate;

[0115] S32: Calculate pitch angle :

[0116]

[0117] in, is the vertical coordinate of the detector coordinate, For the modulo operation, Detector coordinates;

[0118] The azimuth deflection angle of the laser galvanometer includes the azimuth angle and pitch angle .

[0119] In this embodiment, the deflection angles of the four detectors are calculated as follows:

[0120]

[0121] Specifically, step S4 includes:

[0122] S41: fitting a predetermined angle-current curve according to the azimuth deflection angle of the laser galvanometer:

[0123]

[0124]

[0125] in, is the theoretical azimuth current value, is the first azimuth parameter, 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;

[0126] S42: Add hysteresis compensation term:

[0127]

[0128]

[0129]

[0130]

[0131] in, is the azimuth current value, is the azimuth 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 calibration coefficient, is a symbolic function.

[0132] Specifically, in the embodiment of the present invention, , , , , , , substitute the above values ​​into the predetermined angle-current curve and hysteresis compensation term.

[0133] Specifically, step S5 includes:

[0134] S51: Use PID controller to adjust the output current to achieve and ;

[0135] S52: Calculate pulse transmission delay based on simulated target distance based on time of flight method :

[0136]

[0137] in, To simulate the target distance, is the speed of light;

[0138] The delay is then adjusted through a field programmable gate array (FPGA) to eliminate the external inherent delay and control the generation and triggering timing of the laser short pulse;

[0139] The following resource optimization strategies are used within the FPGA to improve timing control efficiency and scalability: multi-channel delay modules share programmable delay lines, dynamically scheduling logic units and lookup table resources; multi-target pulse scheduling logic uses a pipeline structure and state machine hierarchical control to improve control throughput; all FPGA control modules support modular reconfiguration, automatically adjusting timing resource allocation based on the number of targets; laser pulse control generates short pulses with high temporal precision through sub-nanosecond phase interpolation and dynamic gating logic.

[0140] The parameters of the laser short pulse meet the following requirements: pulse width adjustment range: 50ps~1.5ns; timing control accuracy: 2±0.5ns; timing control range: 1ns~10000ns.

[0141] In particular, if there are multiple dynamic targets in the scene, the system uses a priority scheduling mechanism to improve simulation efficiency and authenticity. The priority determination logic is as follows:

[0142] 1. Moving targets take precedence over stationary targets, and the speed threshold is set to 0.5 m / s;

[0143] 2. At the same time, the target closer to the galvanometer takes priority;

[0144] 3. If the distances are equal, the target with the smaller azimuth deviation is preferred;

[0145] 4. If the angles are similar, priority is given to the target that has just entered the scene and has been tracked for less than 100ms.

[0146] Figure 2 The following diagram shows the synchronization timing of the laser galvanometer and detectors driven by the present invention, with multi-channel synchronization at 20kHz. 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.

[0147] like Figure 2 and Figure 3 As described above, the present invention successfully realizes the laser echo simulation of multiple detectors through a single laser source combined with a dynamic galvanometer and a high-precision FPGA synchronization mechanism. It has the advantages of simple structure, high precision, and strong resource utilization. It is suitable for various application scenarios such as lidar calibration and optoelectronic countermeasure system testing, and has broad promotion value.

[0148] in, Figure 3 This is a multi-target echo simulation timing diagram of the present invention, showing the timing intervals of the pulse signals received by the four detectors. Figure 3 In (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 and fourth detectors, and the orange line corresponds to the synchronization timing of driving the laser galvanometer and the detectors.

[0149] This mechanism ensures that the system can prioritize simulating key target echoes when resources are limited, thereby improving test efficiency and simulation coverage.

[0150] like Figure 4 As shown, Figure 4 The present invention provides a short-pulse laser echo simulation device for detection and tracking, which includes the following modules:

[0151] The coordinate acquisition module 101 is used to obtain the spatial orientation coordinates of a plurality of detectors and the spatial orientation coordinates of the laser galvanometer; based on the spatial orientation coordinates of the detectors and the spatial orientation coordinates of the laser galvanometer, the spatial orientation coordinates of the detectors are converted into a local coordinate system centered on the laser galvanometer to obtain the detector coordinates;

[0152] The current calculation module 102 is used to calculate the azimuth deflection angle of the laser galvanometer according to the detector coordinates; and calculate the galvanometer driving current parameters according to the azimuth deflection angle of the laser galvanometer;

[0153] The capture test module 103 is used to use a step-by-step timing circuit and, based on the galvanometer drive current parameter, sequentially drive the laser galvanometer to deflect, so that the laser pulse is captured by a plurality of detectors.

[0154] Figure 5An example of a physical structure diagram of an electronic device is shown below. Figure 5 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute a laser short pulse echo simulation method for detection and tracking, the method comprising:

[0155] S1: Obtain the spatial orientation coordinates of several detectors and the spatial orientation coordinates of the laser galvanometer;

[0156] S2: According to the spatial orientation coordinates of the detector and the spatial orientation coordinates of the laser galvanometer, the spatial orientation coordinates of the detector are converted into a local coordinate system centered on the laser galvanometer to obtain the detector coordinates;

[0157] S3: Calculate the azimuth deflection angle of the laser galvanometer according to the detector coordinates;

[0158] S4: Calculate the galvanometer drive current parameters according to the azimuth deflection angle of the laser galvanometer;

[0159] S5: Using a step-by-step timing circuit, based on the galvanometer drive current parameters, the laser galvanometer is driven to deflect in sequence, so that the laser pulse is captured by several detectors.

[0160] Furthermore, the logic instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product, stored in a storage medium, includes instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0161] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0162] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion 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, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0163] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

[0164] 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 portion can be implemented using dedicated logic; the software portion can be stored in a memory and executed by an appropriate instruction execution system such as a microprocessor or dedicated hardware. Those skilled in the art will understand that the above-mentioned devices and methods can be implemented using computer-executable instructions and / or contained 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.

[0165] In addition, although the operations of the method of the present disclosure are described in a particular order in the accompanying drawings, this does not require or imply that these operations must be performed in this particular order, or that all the operations shown must be performed to achieve the desired result. On the contrary, the steps depicted in the flow chart can change the order of execution. Additionally or alternatively, certain steps can be omitted, multiple steps can be combined into one step, and / or one step can be decomposed into multiple steps. 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 a device described above can be further divided into being embodied by multiple devices.

[0166] 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 is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A method for simulating laser short pulse echoes for detection and tracking, characterized in that: include: S1: Obtain the spatial orientation coordinates of several detectors and the spatial orientation coordinates of the laser galvanometer; S2: According to the spatial orientation coordinates of the detector and the spatial orientation coordinates of the laser galvanometer, the spatial orientation coordinates of the detector are converted into a local coordinate system centered on the laser galvanometer to obtain the 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: Using a step-by-step timing circuit, based on the galvanometer drive current parameters, the laser galvanometer is driven to deflect in sequence, so that the laser pulse is captured by several detectors, completing the laser short pulse echo simulation.

2. The laser short pulse echo simulation method for detection and tracking according to claim 1, characterized in that: Step S1 includes: S11: Calibrate the absolute position of the detector and the absolute position of the galvanometer through the fusion of the visual marker sensor and the UWB anchor point; S12: performing data fusion calibration using an inertial measurement unit according to the absolute position of the detector and the absolute position of the galvanometer, to obtain the spatial orientation coordinates of the detector and the spatial orientation coordinates of the laser galvanometer.

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

4. The laser short pulse echo simulation method for detection and tracking according to claim 3, characterized in that: The data fusion calibration method used by the inertial measurement unit is: S110: Acquisition of the position of the inertial measurement unit in a dynamic state ,speed and attitude quaternion ; S120: Using Kalman filter to fuse position ,speed and attitude quaternion The corresponding dynamic model is: in, for The first derivative with respect to time, for The first derivative with respect to time, for the reason The derived dynamic rotation matrix, is the acceleration measurement value of the original output, for The first derivative with respect to time, is the tensor product, is the original output angular velocity measurement value; S130: After each interval calibration time, To make a correction: in, After correction , Before correction , is the adaptive learning rate, Transpose the matrix.

5. The laser short pulse echo simulation method 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 orientation coordinates of the laser galvanometer as the origin, where the X-axis direction is the pitch axis direction of the laser galvanometer, the Y-axis direction is the azimuth axis direction, and the Z-axis direction is the laser propagation direction; S22: The spatial orientation coordinates of the detector , transform to the local right-handed coordinate system O-XYZ to obtain the detector coordinates : in, is the rotation matrix, is the transverse vector.

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

7. The laser short pulse echo simulation method for detection and tracking according to claim 6, characterized in that: Step S4 includes: S41: fitting a predetermined angle-current curve according to the azimuth deflection angle of the laser galvanometer: in, is the theoretical azimuth current value, is the first azimuth parameter, 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 hysteresis compensation term: in, is the azimuth current value, is the azimuth 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 calibration coefficient, is a symbolic function.

8. The method for simulating laser short pulse echoes for detection and tracking according to claim 7, characterized in that: Step S5 includes: S51: Use PID controller to adjust the output current to achieve and ; S52: Calculate pulse transmission delay based on simulated target distance based on time of flight method : in, To simulate the target distance, is the speed of light; Then, the delay is adjusted by the field programmable gate array to eliminate the external inherent delay and control the generation and triggering timing of the laser short pulse; The parameters of the laser short pulse meet the following requirements: pulse width adjustment range: 50ps~1.5ns; timing control accuracy: 2±0.5ns; timing control range: 1ns~10000ns.

9. A detection and tracking laser short pulse echo simulation system, used to execute the detection and tracking laser short pulse echo simulation method according to any one of claims 1 to 8, characterized in that: include: A coordinate acquisition module is used to obtain the spatial orientation coordinates of several detectors and the spatial orientation coordinates of the laser galvanometer; based on the spatial orientation coordinates of the detectors and the spatial orientation coordinates of the laser galvanometer, the spatial orientation coordinates of the detectors are converted into a local coordinate system centered on the laser galvanometer to obtain the detector coordinates; The current calculation module is used to calculate the azimuth deflection angle of the laser galvanometer according to the detector coordinates; and calculate the galvanometer driving current parameters according to the azimuth deflection angle of the laser galvanometer; The capture test module is used to use a step-by-step timing circuit and, based on the galvanometer drive current parameters, sequentially drive the laser galvanometer deflection so that the laser pulse is captured by several detectors, completing the laser short pulse echo simulation.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the laser short pulse echo simulation method for detection and tracking as described in any one of claims 1 to 8 are implemented.

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