Rapid reflector motion trajectory planning method, system and device and storage medium

Abstract

The invention discloses a fast reflector motion track planning method, system and device and a storage medium, belongs to the technical field of medium-wave infrared imaging system application, and solves the problems that the prior art lacks enough detector integration time and does not have enough time when the rotating speed and frame frequency of a servo turntable change. The technical problem of the invention is to solve the technical problem of a fast reflector motion trajectory planning method for keeping image output clear and stable. Testing the trajectory tracking capability of the fast reflector to ensure that the flyback compensation process time of the fast reflector is not less than the sum of the maximum integral time of a detector and the acceleration or deceleration time of the flyback compensation process; constructing a fast reflector motion trail model; and updating the motion trail model of the fast reflecting mirror through the real-time rotating speed of the servo turntable, and planning the motion trail of the fast reflecting mirror by using the updated motion trail model of the fast reflecting mirror. The fast reflector motion track planning method is used for outputting clear and stable images under the condition of high-frame-frequency imaging.

Description

Technical Field

[0001] The present invention relates to the technical field of mid-wave infrared imaging system applications, and particularly to a method, system, device, and storage medium for planning the motion trajectory of a fast steering mirror. Background Art

[0002] Mid-wave infrared imaging technology has wide applications in the fields of scientific research, military reconnaissance, environmental monitoring, etc., and is particularly suitable for target detection and imaging in low-light and complex environments. Due to the small size, high frame rate, and long integration time of mid-wave infrared detectors, continuous scanning imaging technology is usually adopted to help achieve a larger field of view. To ensure the image quality of continuous scanning imaging, an imaging system requires a fast steering mirror for image motion compensation. During the generation of each frame of image, the fast steering mirror compensates for the image motion caused by the continuous scanning motion of the servo turntable. By matching the speed of the fast steering mirror with that of the servo turntable, it is ensured that the optical axis of the detector remains stable during the integration imaging time, reducing the image trailing effect and minimizing the impact on image quality. However, traditional trajectory adjustment relies on a fixed preset model and is difficult to adaptively adjust when the rotation speed of the servo turntable changes, easily resulting in image blurring and trailing phenomena.

[0003] In a mid-wave infrared continuous scanning system with high frame rate imaging, the following technical problems are faced: 1. In the high frame rate imaging mode, the integration time of the detector is limited, resulting in a decrease in the signal-to-noise ratio of the image; the integration time left for the detector during the retrace compensation stage of the fast steering mirror is limited, and the advantage of a long integration time cannot be utilized, such as enhancing the weak target detection ability. 2. When the rotation speed of the servo turntable changes dynamically, it is difficult for traditional methods to achieve precise speed matching of the fast steering mirror; during high frame rate imaging, the rotation speed of the servo turntable changes in real time, and the fast steering mirror needs to accurately adjust the beam angle within an extremely short time. If the speed of the fast steering mirror fails to match that of the servo turntable quickly, it will result in image distortion phenomena such as blurring and trailing.

[0004] In the prior art, Chinese patent document CN113654526A discloses "a scanning method for an optoelectronic pod under low-altitude fast flight conditions", which calculates the spatial geographical position represented by the image in real time and adjusts the swing angular velocity of the servo frame according to the overlap coefficient of adjacent images to achieve fast, large-scale, and non-omissive scanning of the target area. The optoelectronic pod scanning system includes: an optical camera, a laser rangefinder, a servo frame, an image processing module, a base, and a POS module. The optical camera also includes a fast steering mirror. Among them, the servo frame drives the optical camera to scan and image a large area at a certain swing frequency, and the fast steering mirror maintains the inertial space stability of the optical axis of the optical camera during exposure for clear imaging. However, this technical solution has the technical problem of limited integration time of the detector, and it is difficult to achieve precise speed matching of the fast steering mirror when the rotation speed of the servo frame changes dynamically.

[0005] In summary, the prior art lacks a method for planning the motion trajectory of a fast steering mirror that can ensure that the detector has a sufficiently long integration time and still maintain the clarity and stability of the image output under the conditions of changes in the rotation speed of the servo turntable and the frame rate. Summary of the Invention

[0006] The present invention solves the technical problem in the prior art that there is a lack of a method for planning the motion trajectory of a fast steering mirror that can ensure that the detector has a sufficiently long integration time and still maintain the clarity and stability of the image output under the conditions of changes in the rotation speed of the servo turntable and the frame rate.

[0007] The method for planning the motion trajectory of the fast steering mirror according to the present invention includes the following steps: Step 1: Test the trajectory tracking ability of the fast steering mirror to ensure that the time for the fast steering mirror to perform backscanning compensation is not less than the sum of the maximum integration time of the detector and the acceleration or deceleration time during the backscanning compensation process; Step 2: Based on the fast steering mirror described in Step 1, construct a motion trajectory model of the fast steering mirror; Step 3: Update the motion trajectory model of the fast steering mirror according to the real-time rotation speed of the servo turntable, and use the updated motion trajectory model of the fast steering mirror to plan the motion trajectory of the fast steering mirror.

[0008] Further, in the embodiment of the present invention, the test of the trajectory tracking ability of the fast steering mirror in Step 1 includes the following steps: Step 11: Design an isosceles triangular wave trajectory based on the maximum rotation speed of the servo turntable and the maximum integration time of the detector; Step 12: According to the isosceles triangular wave trajectory, obtain the maximum frequency of the fast steering mirror following the isosceles triangular wave trajectory to obtain a following trajectory curve; Step 13: Based on the following trajectory curve described in Step 12, obtain the time for the fast steering mirror to perform backscanning compensation, and use the time for the fast steering mirror to perform backscanning compensation to test the trajectory tracking ability of the fast steering mirror.

[0009] Further, in the embodiment of the present invention, the design of the isosceles triangular wave trajectory in Step 11 is specifically as follows: Respectively, according to the maximum rotation speed of the servo turntable and the maximum integration time of the detector, obtain the maximum backscanning travel angle of the fast steering mirror, specifically: ; ; In the formula, is the maximum rotation speed of the fast steering mirror, is the optical system scaling ratio, is the maximum rotation speed of the servo turntable, is the maximum return stroke angle of the fast steering mirror, is the maximum integration time of the detector, is the acceleration or deceleration time amount during the return sweep compensation process; According to the maximum return stroke angle of the fast steering mirror, obtain the position sensor code value of the maximum stroke of the fast steering mirror, specifically: ; In the formula, is the position sensor code value of the maximum stroke of the fast steering mirror, is the proportionality coefficient; Design an isosceles triangular wave trajectory based on the position sensor code value of the maximum stroke of the fast steering mirror.

[0010] Further, in the embodiment of the present invention, the obtaining of the return sweep compensation process time of the fast steering mirror in step 13 is specifically: Obtain the minimum return time of the fast steering mirror, the rapid acceleration time of the fast steering mirror, the rapid deceleration time of the fast steering mirror, and the maximum return slope of the fast steering mirror from the following trajectory curve respectively, specifically: ; ; ; In the formula, is the minimum return time of the fast steering mirror, is the maximum frequency of the fast steering mirror following the isosceles triangular wave trajectory, is the rapid acceleration time of the fast steering mirror, is the rapid deceleration time of the fast steering mirror, is the maximum return slope of the fast steering mirror; Based on the maximum frequency of the fast steering mirror following the isosceles triangular wave trajectory, the minimum return time of the fast steering mirror, the rapid acceleration time of the fast steering mirror, and the rapid deceleration time of the fast steering mirror, obtain the return sweep compensation process time of the fast steering mirror, specifically: ; In the formula, is the return sweep compensation process time of the fast steering mirror, is the maximum photographing frequency of the fast steering mirror.

[0011] Further, in the embodiment of the present invention, the constructing of the fast steering mirror motion trajectory model in step 2 is specifically: The fast steering mirror motion trajectory model moves in a sawtooth wave shape, and the actual rotation speed of the servo turntable is collected in real time. According to the actual rotation speed of the servo turntable and the maximum integration time of the detector, obtain the position sensor code value of the fast steering mirror, the return sweep slope of the fast steering mirror, and the return slope of the fast steering mirror respectively, specifically: ; ; ; In the formula, is the code value of the fast steering mirror position sensor, is the actual rotation speed of the servo turntable, is the fast steering mirror retrace slope, is the fast steering mirror return slope.

[0012] Furthermore, in the embodiment of the present invention, the updating of the fast steering mirror motion trajectory model by the real-time rotation speed of the servo turntable in step 3 is specifically as follows: By the actual rotation speed of the servo turntable, the servo turntable return gain and the servo turntable retrace gain are respectively obtained, the servo turntable return gain and the servo turntable retrace gain are respectively adjusted, and the , and in the fast steering mirror motion trajectory model are calculated to update the fast steering mirror motion trajectory model, specifically as follows: ; ; In the formula, is the servo gain coefficient following the isosceles triangular wave trajectory, is the servo turntable retrace gain, is the servo turntable return gain.

[0013] The fast steering mirror motion trajectory planning system of the present invention includes the following modules: A test module that tests the trajectory tracking ability of the fast steering mirror to ensure that the time of the fast steering mirror retrace compensation process is not less than the sum of the maximum integration time of the detector and the acceleration or deceleration time of the retrace compensation process; A construction module that constructs a fast steering mirror motion trajectory model based on the fast steering mirror described in the test module; A planning module that updates the fast steering mirror motion trajectory model by the real-time rotation speed of the servo turntable and plans the fast steering mirror motion trajectory by using the updated fast steering mirror trajectory model.

[0014] An electronic device of the present invention includes a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete communication with each other through the communication bus; The memory is used to store a computer program; The processor is used to implement the fast steering mirror motion trajectory planning method described in any one of the above when executing the program stored on the memory.

[0015] A computer-readable storage medium according to the present invention stores a computer program therein, and when the computer program is executed by a processor, the method for planning the movement trajectory of a fast steering mirror described above is implemented.

[0016] The present invention solves the technical problem in the prior art of lacking a method for planning the movement trajectory of a fast steering mirror that can ensure that the detector has a sufficiently long integration time and still maintain clear and stable image output under the conditions of changes in the rotation speed of the servo turntable and the frame rate. The specific beneficial effects include: The present invention proposes a method for planning the movement trajectory of a fast steering mirror. By testing the trajectory tracking ability of the fast steering mirror, it is ensured that the detector has a sufficiently long integration time, the signal-to-noise ratio of the image is improved. At the same time, a movement trajectory model of the fast steering mirror is constructed, and the movement trajectory model of the fast steering mirror is updated in real time according to the rotation speed of the servo turntable, so as to ensure that the fast steering mirror can accurately match the change of the real-time rotation speed of the servo turntable, avoid image distortion caused by speed mismatch, and thus improve the flexibility and imaging quality of the system. The method for planning the movement trajectory of the fast steering mirror proposed by the present invention not only maintains stable movement matching under the change of the rotation speed of the servo turntable, but also extends the effective integration time of the detector, ensuring clear and stable images are output under high frame rate imaging conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and easy to understand from the following description of the embodiments in conjunction with the drawings, wherein: Figure 1 is the following trajectory curve described in Embodiment 1; Figure 2 is a schematic diagram of the planned movement trajectory curve of the fast steering mirror described in Embodiment 1; Figure 3 is a schematic diagram of the actual tracking trajectory curve of the fast steering mirror described in Embodiment 1. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] The following will clearly and completely describe various embodiments of the present invention in conjunction with the drawings. The embodiments described by referring to the drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0019] Embodiment 1. The method for planning the movement trajectory of a fast steering mirror described in this embodiment includes the following steps: Step 1, test the trajectory tracking ability of the fast steering mirror to ensure that the time for the fast steering mirror to perform backscanning compensation is not less than the sum of the maximum integration time of the detector and the acceleration or deceleration time amount during the backscanning compensation process; Step 2: Based on the fast steering mirror described in Step 1, construct a motion trajectory model of the fast steering mirror; Step 3: Update the motion trajectory model of the fast steering mirror through the real-time rotation speed of the servo turntable, and plan the motion trajectory of the fast steering mirror by using the updated fast steering mirror trajectory model.

[0020] In this embodiment, the test of the trajectory tracking ability of the fast steering mirror in Step 1 includes the following steps: Step 11: Design an isosceles triangular wave trajectory based on the maximum rotation speed of the servo turntable and the maximum integration time of the detector; Step 12: According to the isosceles triangular trajectory, obtain the maximum frequency of the fast steering mirror following the isosceles triangular wave trajectory to obtain the following trajectory curve; Step 13: Based on the following trajectory curve described in Step 12, obtain the time of the fast steering mirror backscanning compensation process, and test the trajectory tracking ability of the fast steering mirror by using the time of the fast steering mirror backscanning compensation process.

[0021] In this embodiment, the design of the isosceles triangular wave trajectory in Step 11 is specifically as follows: Respectively, according to the maximum rotation speed of the servo turntable and the maximum integration time of the detector, obtain the maximum backscanning stroke angle of the fast steering mirror, specifically: ; ; In the formula, is the maximum rotation speed of the fast steering mirror, is the optical system scaling ratio, is the maximum rotation speed of the servo turntable, is the maximum backscanning stroke angle of the fast steering mirror, is the maximum integration time of the detector, is the acceleration or deceleration time amount during the backscanning compensation process; According to the maximum backscanning stroke angle of the fast steering mirror, obtain the position sensor code value of the maximum stroke of the fast steering mirror, specifically: ; In the formula, is the position sensor code value of the maximum stroke of the fast steering mirror, is the proportionality coefficient; Design an isosceles triangular wave trajectory based on the position sensor code value of the maximum stroke of the fast steering mirror.

[0022] In this embodiment, the obtaining of the time of the fast steering mirror backscanning compensation process in Step 13 is specifically as follows: The minimum return time, rapid acceleration time, rapid deceleration time, and maximum return slope of the fast steering mirror are obtained from the following tracking trajectory curve, specifically: ; ; ; In the formula, is the minimum return time of the fast steering mirror, is the maximum frequency of the fast steering mirror following the isosceles triangular wave trajectory, is the rapid acceleration time of the fast steering mirror, is the rapid deceleration time of the fast steering mirror, is the maximum return slope of the fast steering mirror; Based on the maximum frequency of the fast steering mirror following the isosceles triangular wave trajectory, the minimum return time of the fast steering mirror, the rapid acceleration time of the fast steering mirror, and the rapid deceleration time of the fast steering mirror, the retrace compensation process time of the fast steering mirror is obtained, specifically: ; In the formula, is the retrace compensation process time of the fast steering mirror, is the maximum imaging frequency of the fast steering mirror.

[0023] In this embodiment, the construction of the fast steering mirror motion trajectory model in step 2 is specifically as follows: The fast steering mirror motion trajectory model moves in a sawtooth wave shape. The actual rotation speed of the servo turntable is collected in real time. According to the actual rotation speed of the servo turntable and the maximum integration time of the detector, the code value of the fast steering mirror position sensor, the retrace slope of the fast steering mirror, and the return slope of the fast steering mirror are obtained respectively, specifically: ; ; ; In the formula, is the code value of the fast steering mirror position sensor, is the actual rotation speed of the servo turntable, is the retrace slope of the fast steering mirror, is the return slope of the fast steering mirror.

[0024] In this embodiment, the update of the fast steering mirror motion trajectory model by the real-time rotation speed of the servo turntable in step 3 is specifically as follows: Based on the actual rotation speed of the servo turntable, the return gain and the flyback gain of the servo turntable are obtained respectively. The return gain and the flyback gain of the servo turntable are adjusted respectively, and , and in the fast steering mirror motion trajectory model are calculated to update the fast steering mirror motion trajectory model. Specifically: ; ; In the formula, is the servo gain coefficient following the isosceles triangular wave trajectory, is the flyback gain of the servo turntable, is the return gain of the servo turntable.

[0025] The prior art has a technical problem that there is a lack of a fast steering mirror motion trajectory planning method to ensure that the detector has a sufficient long integration time and still maintains the clarity and stability of the image output under the conditions of the rotation speed and frame rate changes of the servo turntable.

[0026] To solve the above technical problems, this embodiment provides a fast steering mirror motion trajectory planning method, which meets the flyback compensation requirements under high frame rate imaging and is particularly applicable to scenarios of high frame rate, high-precision control and stable imaging, such as infrared remote sensing, infrared imaging, satellite monitoring and other fields, including the following steps: Step 1, test the trajectory tracking ability of the fast steering mirror to ensure that the flyback compensation process time of the fast steering mirror is not less than the sum of the maximum integration time of the detector and the acceleration or deceleration time of the flyback compensation process; Step 11, according to the maximum rotation speed of the servo turntable and the maximum integration time of the detector in the mid-wave infrared continuous scanning imaging system, calculate the maximum flyback stroke angle of the fast steering mirror: ; (1) ; (2) In the formula, is the maximum flyback stroke angle of the fast steering mirror, in degrees, is the maximum rotation speed of the fast steering mirror, in ° / s, is the maximum rotation speed of the servo turntable, in ° / s, is the optical system scaling ratio, dimensionless, is the two-fold angle relationship of the mirror, that is, when the mirror rotates 1°, the optical axis rotates 2°, is the maximum integration time of the detector, in s, is the acceleration or deceleration time of the flyback compensation process, in s; Step 12: Calculate the position sensor code value of the maximum travel of the fast steering mirror according to the maximum return sweep travel angle of the fast steering mirror : : ; (3) In the formula, being zero is the zero position of the fast steering mirror, is the position sensor code value of the maximum travel of the fast steering mirror, is the proportionality coefficient.

[0027] Step 13: Design an isosceles triangular wave trajectory according to the position sensor code value of the maximum travel of the fast steering mirror . Use sweep frequency testing to obtain the maximum ability of the fast steering mirror to follow this triangular wave trajectory, that is, the maximum frequency of the fast steering mirror to follow the isosceles triangular wave trajectory when the position sensor code value of the maximum travel of the fast steering mirror is , and draw the curve of the tracking trajectory. Find out the minimum return time of the fast steering mirror, the rapid acceleration time of the fast steering mirror, the rapid deceleration time of the fast steering mirror and the maximum slope of the return stroke of the fast steering mirror from the following trajectory curve: ; (4) ; (5) ; (6) In the formula, is the minimum return time of the fast steering mirror, is the rapid acceleration time of the fast steering mirror, is the rapid deceleration time of the fast steering mirror, and represent the maximum ability of the fast steering mirror for acceleration and deceleration, and the two are approximately equal and relatively small compared to , is the maximum slope of the return stroke of the fast steering mirror, is approximately equal to the ratio of the displacement to . The above parameters can be obtained through the actual motion trajectory curve.

[0028] Step 14: Calculate the return sweep compensation process time of the fast steering mirror according to the measured maximum frequency of the fast steering mirror following the isosceles triangular wave trajectory, the minimum return time of the fast steering mirror, the maximum photographing frequency of the fast steering mirror, the maximum rotational speed of the servo turntable and the maximum integration time of the detector , determine whether it meets the requirements of the maximum integration time of the detector : ; (7) In the formula, is the time of the fast steering mirror retrace compensation process, is the maximum imaging frequency of the fast steering mirror. The time of the fast steering mirror retrace compensation process is the integration time period that the detector can utilize. When the calculation result , the planned trajectory meets the requirements of the maximum integration time. is the acceleration or deceleration time amount during the retrace compensation process, should be greater than the maximum , that is is the time reserved to ensure sufficient integration time. When the fast steering mirror meets the maximum integration time of the detector at the maximum rotation speed of the servo turntable, it can also meet the requirements at other lower rotation speeds.

[0029] Step 2, based on the fast steering mirror described in Step 1, construct a fast steering mirror motion trajectory model; After meeting the maximum integration time of the detector , start planning the fast steering mirror motion trajectory. The fast steering mirror motion trajectory should move in a sawtooth wave shape, that is, the return time during the imaging period should be as short as possible, so as to ensure that the retrace compensation imaging time is as long as possible. Among them, the retrace imaging is performed using the long side area of the sawtooth wave, and the time is , and the retrace imaging is performed using the short side area of the sawtooth wave, and the time is .

[0030] According to the actual rotation speed of the servo turntable and the maximum integration time of the detector, calculate the code value of the fast steering mirror position sensor, that is, find the position of the sawtooth wave vertex: ; (8) According to , calculate the retrace slope of the fast steering mirror and the return slope of the fast steering mirror: ; (9) ; (10) In the relational expressions given by the above formulas, it meets the matching of the maximum rotation speed of the fast steering mirror and the maximum rotation speed of the servo turntable, and also meets the maximum integration time Requirements: The motion trajectory can be designed based on the calculation results.

[0031] Step 3: Update the motion trajectory model of the fast steering mirror through the real-time rotational speed of the servo turntable, and plan the motion trajectory of the fast steering mirror using the updated fast steering mirror trajectory model. Based on the code value of the fast steering mirror position sensor, the fast steering mirror retrace slope, and the fast steering mirror return slope, the motion trajectory model of the fast steering mirror can be constructed. By controlling the servo turntable return gain and the servo turntable retrace gain, the fast steering mirror follows the motion trajectory model. When the rotational speed of the servo turntable changes in real time, calculate the new 、 and of the fast steering mirror according to the formula, and the new motion trajectory model of the fast steering mirror is obtained: ; (11) ; (12) The fast steering mirror motion trajectory model is an approximate linear system. is the servo gain coefficient for following the trajectory curve and is also the maximum gain coefficient. is the servo turntable retrace gain, which can be represented by multiplying the ratio of the fast steering mirror retrace slope to the maximum fast steering mirror return slope by . is the servo turntable return gain, which is represented by multiplying the ratio of the fast steering mirror return slope to the maximum fast steering mirror return slope by . The motion of the fast steering mirror is controlled to follow the planned trajectory change by continuously adjusting the servo turntable return gain and the servo turntable retrace gain.

[0032] This embodiment addresses the problems such as short integration time in high-frequency shooting environments and image distortion caused by the real-time change of the servo turntable rotational speed, and innovatively realizes the speed matching trajectory planning between the fast steering mirror and the servo turntable. This embodiment adopts a dynamic real-time adjustment mechanism, introduces a dynamic real-time speed matching trajectory planning algorithm, pre-establishes a fast steering mirror motion trajectory model, ensures that the detector has a sufficient long integration time, and in the process of retrace compensation, the speed change of the servo turntable is collected in real time. Based on the model, the motion trajectory of the fast steering mirror is adaptively adjusted, and the motion trajectory of the fast steering mirror can be flexibly adjusted according to actual needs to ensure precise matching. Even when the servo rotational speed and frame rate change, the clarity and stability of the image output are still maintained.

[0033] To better illustrate the fast steering mirror motion trajectory planning method described in this embodiment, it is described in detail through the following embodiments: Step 1: Test the trajectory tracking ability of the fast steering mirror to ensure that the time of the backscanning compensation process of the fast steering mirror is not less than the sum of the maximum integration time of the detector and the acceleration or deceleration time of the backscanning compensation process. Step 11: In this embodiment, the maximum rotation speed of the servo turntable is 6° / s, the zoom ratio of the optical system is 10, the maximum integration time of the detector is 10 ms, and the acceleration or deceleration time of the backscanning compensation process is 2 ms. It is estimated according to the duration of and is usually This is to deduct the rapid acceleration time and rapid deceleration time of the fast steering mirror during the backscanning compensation process to ensure that the backscanning speed is uniform when reaching the maximum integration time of the detector. The maximum backscanning stroke angle of the fast steering mirror The calculation result is 0.36°. The calculation result is 0.36°.

[0034] Step 12: Obtain the position sensor code value of the maximum stroke of the fast steering mirror according to the maximum backscanning stroke angle of the fast steering mirror. In this embodiment it is 2400, and the calculation result of

[0035] is ±432 DN. Figure 1 As shown in in this embodiment, the photographing frequency of the fast steering mirror is 50 Hz. If it runs according to the traditional isosceles triangular wave trajectory, the time of the backscanning compensation process of the fast steering mirror is only 10 ms. After removing the acceleration or deceleration time of the backscanning compensation process, the actual integration time left for the detector is less than 10 ms, which does not meet the requirement that the maximum integration time is 10 ms. Only by reducing the exposure time can it be compensated. After reducing the exposure time, the duration is about 7 ms, and at a frame rate of 50 Hz it is 13 ms, meeting the time requirement that

[0036] Step 2: After meeting the maximum integration time of the detector , use formulas (8) to (10) to plan the motion trajectory of the fast steering mirror. According to the position sensor code value of the fast steering mirror, the backscanning slope of the fast steering mirror, and the return slope of the fast steering mirror, construct a motion trajectory model of the fast steering mirror. As shown in Figure 2 it not only meets the matching of the maximum rotation speed of the fast steering mirror and the maximum rotation speed of the servo turntable , but also meets the requirement of the maximum integration time of the detector .

[0037] Step 3: Obtain the return gain and the flyback gain of the servo turntable according to the actual rotation speed of the servo turntable, and adjust the return gain and the flyback gain of the servo turntable to calculate the , and in the fast steering mirror motion trajectory model, so as to form a new fast steering mirror motion trajectory model. As Figure 3 shown, there will be a certain phase lag between the actual tracking trajectory of the fast steering mirror and the given planned trajectory, and this lag is fixed under the condition that the photographing frequency remains unchanged.

[0038] Embodiment 2. The fast steering mirror motion trajectory planning system described in this embodiment includes the following modules: A testing module, which tests the trajectory tracking ability of the fast steering mirror to ensure that the time of the flyback compensation process of the fast steering mirror is not less than the sum of the maximum integration time of the detector and the acceleration or deceleration time of the flyback compensation process; A building module, which builds a fast steering mirror motion trajectory model based on the fast steering mirror described in the testing module; A planning module, which updates the fast steering mirror motion trajectory model through the real-time rotation speed of the servo turntable, and uses the updated fast steering mirror trajectory model to plan the fast steering mirror motion trajectory.

[0039] Embodiment 3. An electronic device described in this embodiment includes a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete communication with each other through the communication bus; The memory is used to store a computer program; The processor is used to implement the fast steering mirror motion trajectory planning method described in Embodiment 1 when executing the program stored on the memory.

[0040] Embodiment 4. The computer-readable storage medium described in this embodiment stores a computer program, and when the computer program is executed by a processor, it implements the fast steering mirror motion trajectory planning method described in Embodiment 1.

[0041] The fast steering mirror motion trajectory planning method, system, device, and storage medium proposed by the present invention are introduced in detail above. Specific examples are used in this article to elaborate on the principle and implementation method of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A method for planning the motion trajectory of a fast steering mirror, characterized in that, It includes the following steps: Step 1: Test the trajectory tracking ability of the fast steering mirror to ensure that the time of the backscanning compensation process of the fast steering mirror is not less than the sum of the maximum integration time of the detector and the acceleration or deceleration time amount during the backscanning compensation process; Step 2: Based on the fast steering mirror described in Step 1, construct a fast steering mirror motion trajectory model; Step 3: Update the fast steering mirror motion trajectory model through the real-time rotation speed of the servo turntable, and use the updated fast steering mirror trajectory model to plan the fast steering mirror motion trajectory.

2. The method for planning the motion trajectory of a fast steering mirror according to claim 1, characterized in that, The test of the trajectory tracking ability of the fast steering mirror in Step 1 includes the following steps: Step 11: Design an isosceles triangular wave trajectory based on the maximum rotation speed of the servo turntable and the maximum integration time of the detector; Step 12: According to the isosceles triangular trajectory, obtain the maximum frequency of the fast steering mirror following the isosceles triangular wave trajectory to obtain the following trajectory curve; Step 13: Based on the following trajectory curve described in Step 12, obtain the time of the backscanning compensation process of the fast steering mirror, and use the time of the backscanning compensation process of the fast steering mirror to test the trajectory tracking ability of the fast steering mirror.

3. The fast steering mirror motion trajectory planning method according to claim 2, wherein The design of the isosceles triangular wave trajectory in Step 11 is specifically as follows: Respectively obtain the maximum backscanning stroke angle of the fast steering mirror according to the maximum rotation speed of the servo turntable and the maximum integration time of the detector, specifically: ； ； In the formula, is the maximum rotation speed of the fast steering mirror, is the scaling ratio of the optical system, is the maximum rotation speed of the servo turntable, is the maximum retrace stroke angle of the fast steering mirror, is the maximum integration time of the detector, is the acceleration or deceleration time amount during the retrace compensation process; According to the maximum backscanning stroke angle of the fast steering mirror, obtain the position sensor code value of the maximum stroke of the fast steering mirror, specifically: ； In the formula, is the position sensor code value of the maximum stroke of the fast steering mirror, is the proportionality coefficient; Design an isosceles triangular wave trajectory based on the position sensor code value of the maximum stroke of the fast steering mirror.

4. The method for planning the motion trajectory of a fast steering mirror according to claim 2, wherein, The obtaining of the time of the backscanning compensation process of the fast steering mirror in Step 13 is specifically as follows: Respectively obtain the minimum return time of the fast steering mirror, the rapid acceleration time of the fast steering mirror, the rapid deceleration time of the fast steering mirror, and the maximum return slope of the fast steering mirror from the following trajectory curve, specifically: ； ； ； Wherein, is the minimum time of the rapid steering mirror during the return stroke, is the maximum frequency of the rapid steering mirror following the isosceles triangular wave trajectory, is the rapid acceleration time of the rapid steering mirror, is the rapid deceleration time of the rapid steering mirror, is the maximum slope of the rapid steering mirror during the return stroke; Based on the maximum frequency of the fast steering mirror following the isosceles triangular wave trajectory, the minimum return time of the fast steering mirror, the rapid acceleration time of the fast steering mirror, and the rapid deceleration time of the fast steering mirror, obtain the time of the backscanning compensation process of the fast steering mirror, specifically: ； In the formula, is the time of the fast steering mirror retrace compensation process, is the maximum imaging frequency of the fast steering mirror.

5. The method for planning the movement trajectory of the fast steering mirror according to claim 1, characterized in that The construction of the fast steering mirror motion trajectory model in Step 2 is specifically as follows: The fast steering mirror motion trajectory model moves in a sawtooth wave shape, and the actual rotation speed of the servo turntable is collected in real time. According to the actual rotation speed of the servo turntable and the maximum integration time of the detector, respectively obtain the position sensor code value of the fast steering mirror, the backscanning slope of the fast steering mirror, and the return slope of the fast steering mirror, specifically: ； ； ； In the formula, is the code value of the fast steering mirror position sensor, is the actual rotation speed of the servo turntable, is the flyback slope of the fast steering mirror, is the return slope of the fast steering mirror.

6. The method for planning the motion trajectory of a fast steering mirror according to claim 1, characterized in that The update of the fast steering mirror motion trajectory model through the real-time rotation speed of the servo turntable in Step 3 is specifically as follows: Based on the actual rotation speed of the servo turntable, the return gain and the flyback gain of the servo turntable are obtained respectively. The return gain and the flyback gain of the servo turntable are adjusted respectively, and , and in the fast steering mirror motion trajectory model are calculated. The fast steering mirror motion trajectory model is updated, specifically as follows: ； ； In the formula, is the servo gain coefficient following the isosceles triangular wave trajectory, is the servo turntable flyback gain, is the servo turntable return stroke gain.

7. A fast steering mirror motion trajectory planning system, characterized in that, It includes the following modules: A test module that tests the trajectory tracking ability of the fast steering mirror to ensure that the time of the backscanning compensation process of the fast steering mirror is not less than the sum of the maximum integration time of the detector and the acceleration or deceleration time amount during the backscanning compensation process; A construction module that constructs a fast steering mirror motion trajectory model based on the fast steering mirror described in the test module; A planning module that updates the fast steering mirror motion trajectory model through the real-time rotation speed of the servo turntable, and uses the updated fast steering mirror trajectory model to plan the fast steering mirror motion trajectory.

8. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete mutual communication through the communication bus; The memory is used to store computer programs; The processor is used to implement the fast steering mirror motion trajectory planning method according to any one of claims 1-6 when executing the program stored on the memory.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, it implements the fast steering mirror motion trajectory planning method according to any one of claims 1-6.

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