A full-space target acquisition and tracking method based on a five-axis decoupling control system

Abstract

The present application relates to the field of photoelectric detection technology, and provides a full-airspace target capture and tracking method based on a five-axis decoupling control system, comprising: obtaining the initial position parameters of the target through a five-axis decoupling control system; wherein the five-axis decoupling control system comprises: a two-degree-of-freedom swing mirror, a first fixed reflector, a second fixed reflector, a fast reflector and a photoelectric detector; constructing a multivariate linear equation group based on the final position parameters determined by the photoelectric detector and the initial position parameters of the target; using the original-dual path tracking method with predictive correction to solve the multivariate linear equation group in real time, obtaining the optimal angle adjustment amount of each axis, and giving the solution result; a servo control unit controls the angle adjustment amount of each axis in the five-axis decoupling control system according to the solution result, so as to accurately capture and track the target.

Description

Technical Field

[0001] The present application relates to the field of laser detection technology, and in particular to a full-airspace target capture and tracking method based on a five-axis decoupling control system. Background Art

[0002] During the process of target capture and tracking, traditional two-axis photoelectric tracking systems have capture and tracking blind spots in space due to the limitation of axis rotation angular velocity and self-locking phenomenon, which often causes the photoelectric tracking device to fail to capture the target or lose the target.

[0003] Currently, the common strategy for addressing blind spots in optoelectronic tracking systems is to use an external three-axis system. This strategy adds an additional roll axis to the traditional two-axis optoelectronic tracking system. While this approach effectively eliminates blind spots to a certain extent, a more practical analysis reveals significant limitations:

[0004] (a) In terms of mechanical design, the introduction of an additional roll axis significantly increases the overall structural complexity and weight of the system. This design conflicts with the current trend toward miniaturization and lightweighting of equipment, limiting the system's applicability to applications with strict size and weight constraints.

[0005] (b) In terms of control accuracy, offset is unavoidable to ensure sufficient rotation range of the roll axis. The presence of offset introduces system errors during the tracking process, leading to a certain degree of reduction in tracking accuracy, affecting the system's ability to accurately track the target.

[0006] (c) In terms of control difficulty, because the mechanical structure is external, light control and axis control are relatively independent in terms of physical space and control logic. This feature increases the complexity of light control.

[0007] Certain technical and methodological documents, such as Chinese Patent Publication No. CN119135051A, "Low-Carbon, Energy-Saving Multi-Axis Tracking Photovoltaic Module," and Chinese Patent Publication No. CN119467983A, "A Three-Axis Rotation Mechanism and Photoelectric Tracking Turntable," propose multi-axis designs. The former utilizes a radial adjustment mechanism, while the latter utilizes a gear structure. Both achieve omnidirectional tracking and offer improvements in compactness. However, these designs still suffer from structural complexity and difficulty in control. Summary of the Invention

[0008] This application provides a full-airspace target acquisition and tracking method based on a five-axis decoupling control system to solve at least one of the technical problems mentioned above. The details are as follows:

[0009] Some embodiments of the present application provide a full-airspace target acquisition and tracking method based on a five-axis decoupling control system, including:

[0010] Acquiring initial position parameters of the target through a five-axis decoupling control system; wherein the five-axis decoupling control system includes: a two-degree-of-freedom swing mirror, a first fixed reflector, a second fixed reflector, a fast reflector, and a photoelectric detector;

[0011] constructing a multivariate linear equation system based on the final position parameters determined by the photodetector and the initial position parameters of the target;

[0012] The multivariate linear equations are solved in real time using the primal-dual path tracking method with predictive correction to obtain the optimal angle adjustment of each axis and provide the solution results;

[0013] The servo control unit controls the adjustment amount of each axis angle in the five-axis decoupling control system according to the solution result to accurately capture and track the target.

[0014] In some embodiments, the servo control unit controls the initial value of the dual-degree-of-freedom swing mirror and the vertical axis to be 18.5 degrees, and the servo control unit controls the initial value of the fast reflection mirror and the vertical axis to be 45 degrees.

[0015] In some embodiments, constructing a multivariate linear equation system based on the final position parameters determined by the photodetector and the initial position parameters of the target includes:

[0016] The reflection matrix of the two-DOF oscillating mirror is constructed based on the initial position parameters of the target, including:

[0017] Assume that the coordinate components of the unit vector A of the incident light of the target in the reference coordinate system are: 、 、 ;

[0018] The reflection matrix of the two-degree-of-freedom oscillating mirror is:

[0019]

[0020] in: 、 、 , is the angle of rotation of the two-DOF oscillating mirror along its tilt axis, is the rotation angle of the two-degree-of-freedom swing mirror along its azimuth axis.

[0021] In some embodiments, constructing a multivariate linear equation system based on the final position parameters determined by the photodetector and the initial position parameters of the target includes:

[0022] The reflection matrix of the first fixed reflector is constructed based on the initial position parameters of the target, including:

[0023] The coordinate components of the unit vector N1 in the normal direction of the first fixed reflector in the reference coordinate system are: 、 、 ;

[0024] The reflection matrix of the first fixed reflector is:

[0025] .

[0026] In some embodiments, constructing a multivariate linear equation system based on the final position parameters determined by the photodetector and the initial position parameters of the target includes:

[0027] The reflection matrix of the second fixed reflector is constructed based on the initial position parameters of the target, including:

[0028] The coordinate components of the unit vector N1 in the normal direction of the second fixed reflector in the reference coordinate system are: 、 、 ;

[0029] The reflection matrix of the second fixed reflector is:

[0030] .

[0031] In some embodiments, constructing a multivariate linear equation system based on the final position parameters determined by the photodetector and the initial position parameters of the target includes:

[0032] The reflection matrix of the fast reflector is constructed based on the position parameters of the fast reflector at the initial position, including:

[0033] The coordinate components of the unit vector N3 in the normal direction of the fast reflector in the reference coordinate system at the initial position are: 、 、 ;

[0034] Pitch axis rotation via fast reflector Rotate along the heel axis with the fast reflector The coordinate components in the reference coordinate system are: 、 、 ;

[0035] The reflection matrix of the fast mirror is:

[0036] .

[0037] In some embodiments, constructing a multivariate linear equation system based on the final position parameters determined by the photodetector and the initial position parameters of the target includes:

[0038] The reflection matrix of the azimuth axis is constructed based on the azimuth axis of the five-axis decoupling control system, including:

[0039] Rotation along the azimuth axis Finally, when the rotation axis coincides with the Z axis, the rotation matrix S is:

[0040] .

[0041] In some embodiments, constructing a multivariate linear equation system based on the final position parameters determined by the photodetector and the initial position parameters of the target includes:

[0042] Taking the unit vector of the initial light as A, the final target light The unit vector is .

[0043] In some embodiments, constructing a multivariate linear equation system based on the final position parameters determined by the photodetector and the initial position parameters of the target includes:

[0044] Assumptions , then the multivariate linear equations formed by the target start and end position deviation and the rotation angle of each axis are:

[0045]

[0046]

[0047] in 、 、 、 and is the rotation angle of each axis, 、 、 、 and is the minimum step length limit for a single step angle, 、 and is the unit vector coordinate of the target’s final position, 、 and is the unit vector coordinate of the target initial position, 、 and The unit vector coordinates of the middle position of the three-axis tracking.

[0048] In some embodiments, the method of using the primal-dual path tracking method with prediction correction to solve the multivariate linear equations in real time, obtain the optimal angle adjustment of each axis, and provide the solution results includes:

[0049] Step 1: Convert the linear multivariate equations obtained by the five-axis spatial motion solving module into standard quadratic programming problem parameters;

[0050] Step 2: Set the initial point, number of iterations and accuracy requirements;

[0051] Step 3: Build a KKT system at the current iteration point and obtain the predicted step direction value through matrix decomposition calculation;

[0052] In the direction of the prediction step length, calculate the prediction step length;

[0053] Step 4: Calculate the reduction factor based on the prediction direction and prediction step size. Use the reduction factor to constrain the search range and balance search efficiency and feasibility.

[0054] Step 5: Calculate the correction step direction value by constraining the correction by the reduction factor;

[0055] Step 6: Calculate the step value in the direction of the correction step;

[0056] Step 7: Calculate the new iteration value by correcting the step direction value and the step value;

[0057] Step 8: Calculate a new dual interval using the new iteration value, and determine the convergence of the iteration using the new dual interval.

[0058] Step 9: Determine whether the dual interval meets the accuracy requirements. If it meets the accuracy requirements, the angle at this time is determined to be the optimal result. If it does not meet the requirements, return to step 3 and repeat the calculation until it meets the accuracy requirements.

[0059] Compared with the related art, the above solution of the embodiment of the present application has at least the following beneficial effects:

[0060] This application abandons the form of separation of the pitch axis and the roll axis in the traditional three-axis turntable structure, and introduces a dual-degree-of-freedom swing mirror, which not only adds redundant axes, but also significantly improves the convenience and accuracy of light pointing control. At the same time, this application effectively expands the tracking range of the system by tilting the pitch axis, further optimizes the ability to cope with tracking blind spots, and comprehensively improves the system performance. This application obtains the kinematic equations of the five-axis system by solving the rotational coupling relationship between the dual-degree-of-freedom swing mirror and the fast reflector. The fast reflector serves as a supplement to the other three axes to further improve the accuracy of target capture and tracking. This application uses the primal-dual path tracking method with predictive correction to solve the quadratic programming problem in optoelectronic target capture and tracking, while ensuring computational efficiency, improving the accuracy of the optimal solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, explaining the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0062] Figure 1 A flow chart of a full-airspace target acquisition and tracking method based on a five-axis decoupling control system provided in some embodiments of the present application;

[0063] Figure 2 A schematic diagram of the structure of a five-axis decoupling control system provided in some embodiments of the present application;

[0064] Figure 3 Schematic diagram of experimental comparison of full-airspace target capture and tracking methods based on a five-axis decoupling control system provided in some embodiments of the present application.

[0065] Description of reference numerals:

[0066] A two-degree-of-freedom oscillating mirror 1 , a first fixed reflecting mirror 2 , a second fixed reflecting mirror 3 , a fast reflecting mirror 4 , a photoelectric detector 5 , and a servo control unit 6 . DETAILED DESCRIPTION

[0067] To make the objectives, technical solutions, and advantages of this application more clear, this application will be further described in detail below with reference to the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0068] The terms used in the examples of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms "a," "the," and "the" used in the examples of this application and the appended claims are also intended to include plural forms, and unless the context clearly indicates otherwise, "a plurality" generally includes at least two.

[0069] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0070] It should be understood that although the terms first, second, third, etc. may be used to describe in the embodiments of the present application, these should not be limited to these terms. These terms are only used to distinguish. For example, without departing from the scope of the embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0071] It should also be noted that the terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or device. In the absence of further limitations, an element defined by the phrase "comprising a" does not exclude the presence of other identical elements in the product or device comprising the element.

[0072] like Figure 1 As shown, some embodiments of the present application provide a full-airspace target acquisition and tracking method based on a five-axis decoupling control system, including the following method steps:

[0073] Step S102: obtaining initial position parameters of the target through a five-axis decoupling control system; wherein the five-axis decoupling control system includes: a two-degree-of-freedom swing mirror, a first fixed reflector, a second fixed reflector, a fast reflector, and a photoelectric detector;

[0074] Step S104: constructing a multivariate linear equation system based on the final position parameters determined by the photoelectric detector and the initial position parameters of the target;

[0075] Step S106: using the primal-dual path tracking method with prediction correction to solve the multivariate linear equations in real time, obtaining the optimal angle adjustment of each axis, and providing the solution result;

[0076] Step S108: The servo control unit controls the adjustment amount of each axis angle in the five-axis decoupling control system according to the solution result to accurately capture and track the target.

[0077] like Figure 2 As shown, the five-axis decoupling control system includes a two-degree-of-freedom swing mirror 1, a first fixed reflector 2, a second fixed reflector 3, a fast reflector 4 and a photodetector 5. In order to better describe the components of the five-axis decoupling control system and the capture process of the incident light, a rectangular coordinate system is established as shown in FIG. Figure 2 As shown, the horizontal direction is the XY plane and the vertical direction is the Z axis.

[0078] This full-airspace target capture and tracking system first uses a servo control unit 6 to continuously rotate the azimuth axis of the five-axis decoupling control system and the dual-degree-of-freedom oscillating mirror 1, performing large-angle capture and tracking at the hundred-microradian level, initially locking onto the target. Subsequently, the servo control unit 6 controls the fast reflector 4 to compensate for the theoretical and tracking errors in the azimuth axis of the five-axis decoupling control system and the dual-degree-of-freedom oscillating mirror 1 during the capture and tracking process, achieving more accurate tracking at the ten-microradian level. Simultaneously, by developing a global optimal strategy, the servo control unit 6 adjusts the angles of each axis in the five-axis decoupling control system, ultimately achieving precise capture and tracking of the target.

[0079] In some embodiments, the servo control unit 6 controls the initial value of the dual-degree-of-freedom oscillating mirror 1 and the vertical axis (Z axis) to be 18.5°, and the servo control unit controls the initial value of the fast reflection mirror and the vertical axis (Z axis) to be 45°, so as to cooperate with the optical path to quickly capture the target.

[0080] In step S104, the multivariate linear equation system is constructed based on the final position parameters determined by the photoelectric detector and the initial position parameters of the target, including:

[0081] The reflection matrix of the two-DOF oscillating mirror is constructed based on the initial position parameters of the target, including:

[0082] Assume that the coordinate components of the unit vector A of the incident light of the target in the reference coordinate system are: 、 、 ; The reflection matrix of the two-degree-of-freedom oscillating mirror is:

[0083]

[0084] in: 、 、 , is the angle of rotation of the two-DOF oscillating mirror along its tilt axis, is the rotation angle of the two-degree-of-freedom swing mirror along its pitch axis.

[0085] In step S104, the multivariate linear equation system is constructed based on the final position parameters determined by the photoelectric detector and the initial position parameters of the target, including:

[0086] The reflection matrix of the first fixed reflector is constructed based on the initial position parameters of the target, including:

[0087] The coordinate components of the unit vector N1 in the normal direction of the first fixed reflector in the reference coordinate system are: 、 、 ;

[0088] The reflection matrix of the first fixed reflector is:

[0089] .

[0090] In step S104, the multivariate linear equation system is constructed based on the final position parameters determined by the photoelectric detector and the initial position parameters of the target, including:

[0091] The reflection matrix of the second fixed reflector is constructed based on the initial position parameters of the target, including:

[0092] The coordinate components of the unit vector N2 in the normal direction of the second fixed reflector in the reference coordinate system are: 、 、 ;

[0093] The reflection matrix of the second fixed reflector is:

[0094] .

[0095] In step S104, the multivariate linear equation system is constructed based on the final position parameters determined by the photoelectric detector and the initial position parameters of the target, including:

[0096] The reflection matrix of the fast reflector is constructed based on the position parameters of the fast reflector at the initial position, including:

[0097] The coordinate components of the unit vector N3 in the normal direction of the fast reflector in the reference coordinate system at the initial position are: 、 、 ;

[0098] Pitch axis rotation via fast reflector Rotate along the heel axis with the fast reflector The coordinate components in the reference coordinate system are: 、 、 ;

[0099] The reflection matrix of the fast mirror is:

[0100] .

[0101] In step S104, the multivariate linear equation system is constructed based on the final position parameters determined by the photoelectric detector and the initial position parameters of the target, including:

[0102] The reflection matrix of the azimuth axis is constructed based on the azimuth axis of the five-axis decoupling control system, including:

[0103] Rotation along the azimuth axis Finally, when the rotation axis coincides with the Z axis, the rotation matrix S is:

[0104] .

[0105] In step S104, the multivariate linear equation system is constructed based on the final position parameters determined by the photoelectric detector and the initial position parameters of the target, including:

[0106] Taking the unit vector of the initial light as A, the final target light The unit vector is .

[0107] In some embodiments, constructing a multivariate linear equation system based on the final position parameters determined by the photodetector and the initial position parameters of the target includes:

[0108] Assumptions After a series of calculations, the multivariate linear equations consisting of the target start and end position deviations and the rotation angles of each axis can be obtained as follows:

[0109]

[0110] The above equations are multivariate linear equations about the system azimuth axis and the rotation axis of the two-degree-of-freedom oscillating mirror.

[0111]

[0112] The above equations are multivariate linear equations about the fast reflector.

[0113] in 、 、 、 and is the rotation angle of each axis, 、 、 、 and is the minimum step length limit for a single step angle, 、 and is the unit vector coordinate of the target’s final position, 、 and is the unit vector coordinate of the target initial position, 、 and The unit vector coordinates of the middle position of the three-axis tracking.

[0114] Furthermore, in step S106, the above multivariate linear equations are optimized by the primal-dual path tracking method with prediction and correction. The detailed calculation process is a mathematical calculation process and will not be elaborated here. The relevant calculation methods can be referred to for verification. The calculation steps include the following:

[0115] Step 1: Convert the linear multivariate equations obtained by the five-axis spatial motion solving module into standard quadratic programming problem parameters.

[0116] Step 2: Set the initial point z0, the number of iterations k=200 and the accuracy requirement tol=10 -8 ;

[0117] Step 3: Build a KKT system at the current iteration point and obtain the predicted step direction value through matrix decomposition calculation;

[0118] In the direction of the prediction step length, calculate the prediction step length;

[0119] Step 4: Calculate the reduction factor based on the prediction direction and prediction step size. Use the reduction factor to constrain the search range and balance search efficiency and feasibility.

[0120] Step 5: Calculate the correction step direction value by constraining the correction by the reduction factor;

[0121] Step 6: Calculate the step value in the direction of the correction step;

[0122] Step 7: Calculate the new iteration value by correcting the step direction value and the step value;

[0123] Step 8: Calculate a new dual interval using the new iteration value, and determine the convergence of the iteration using the new dual interval.

[0124] Step 9: Determine whether the dual interval meets the accuracy requirements. If it meets the accuracy requirements, the angle at this time is determined to be the optimal result. If it does not meet the requirements, return to step 3 and repeat the calculation until it meets the accuracy requirements.

[0125] Furthermore, in step S108, the adjustment amount of each axis angle is transmitted to the servo control unit 6, which drives the dual-degree-of-freedom swing mirror and the fast reflection mirror in sequence to achieve omnidirectional target tracking.

[0126] like Figure 3As shown in the figure, a numerical simulation and comparative analysis of a full-airspace high-precision capture and tracking method based on five-axis decoupling control in this application was performed in MATLAB. Compared with traditional two-axis and three-axis optoelectronic tracking systems, simulation data shows that the five-axis decoupling control full-airspace high-precision capture and tracking method proposed in this paper has significant advantages in angular increment control. During the target tracking process in the non-zenith blind spot, the maximum angular increment of this system can be stabilized below 1.5°, which can significantly improve the accuracy and efficiency of full-airspace target capture and tracking.

[0127] In summary, the present invention presents a full-airspace, high-precision capture and tracking system and method based on five-axis decoupling control. This system employs a coordinated control strategy of a dual-degree-of-freedom oscillating mirror and a rapid reflector. The rapid reflector provides tracking compensation for the other three axes, effectively suppressing errors. By combining five-axis spatial motion decoupling with a quadratic programming algorithm, the system optimizes the calculation of angular increments for each axis, achieving a globally optimal solution. Furthermore, the introduction of a dual-degree-of-freedom oscillating mirror and the tilting design of the roll axis significantly expand the system's spatial observation range, enabling full-airspace observation capabilities.

[0128] This application abandons the form of separation of the pitch axis and the roll axis in the traditional three-axis turntable structure, and introduces a dual-degree-of-freedom swing mirror, which not only adds redundant axes, but also significantly improves the convenience and accuracy of light pointing control. At the same time, this application effectively expands the tracking range of the system by tilting the pitch axis, further optimizes the ability to cope with tracking blind spots, and comprehensively improves the system performance. This application obtains the kinematic equations of the five-axis system by solving the rotational coupling relationship between the dual-degree-of-freedom swing mirror and the fast reflector. The fast reflector serves as a supplement to the other three axes to further improve the accuracy of target capture and tracking. This application uses the primal-dual path tracking method with predictive correction to solve the quadratic programming problem in optoelectronic target capture and tracking, while ensuring computational efficiency, improving the accuracy of the optimal solution.

[0129] Finally, it should be noted that the various embodiments in this specification are described by way of example. Each embodiment focuses on the differences from other embodiments, and reference can be made to the common and similar parts between the various embodiments. For the systems or devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For relevant details, refer to the description of the methods.

[0130] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application 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 embodiments of the present application.

Claims

1. A full-space target acquisition and tracking method based on a five-axis decoupling control system, characterized in that ,include: Acquiring initial position parameters of the target through a five-axis decoupling control system; wherein the five-axis decoupling control system includes: a two-degree-of-freedom swing mirror, a first fixed reflector, a second fixed reflector, a fast reflector, and a photoelectric detector; constructing a multivariate linear equation system based on the final position parameters determined by the photodetector and the initial position parameters of the target; The multivariate linear equations are solved in real time using the primal-dual path tracking method with predictive correction to obtain the optimal angle adjustment of each axis and provide the solution results; The servo control unit controls the adjustment amount of each axis angle in the five-axis decoupling control system according to the solution result to accurately capture and track the target; The method of constructing a multivariate linear equation system based on the final position parameters determined by the photoelectric detector and the initial position parameters of the target includes: Construct the reflection matrix R of the two-degree-of-freedom oscillating mirror based on the initial position parameters of the target; Constructing a reflection matrix R1 of the first fixed reflector based on the initial position parameters of the target; Constructing a reflection matrix R2 of the second fixed reflector based on the initial position parameters of the target; Constructing a reflection matrix R3 of the fast reflection mirror based on the position parameters of the fast reflection mirror at the initial position; Construct the reflection matrix S of the azimuth axis based on the azimuth axis of the five-axis decoupling control system; Let the unit vector of the initial light be A, then the unit vector of the final target light A′ is A′=S*R*R1*R2*R3*A; Assumptions Then the multivariate linear equations formed by the target start and end position deviation and the rotation angle of each axis are: in Δθ, Δψ, Δθ * and Δψ * is the rotation angle of each axis, Δθ min , Δψ min 、 and is the minimum step length limit of a single step angle, x2, y2 and z2 are the unit vector coordinates of the target final position, x1, y1 and z1 are the unit vector coordinates of the target initial position, x ′ 1.y ′ 1 and z ′ 1 is the unit vector coordinate of the middle position of three-axis tracking.

2. The method according to claim 1, characterized in that The servo control unit controls the initial value of the dual-degree-of-freedom swing mirror and the vertical axis to be 18.5°, and the servo control unit controls the initial value of the fast reflection mirror and the vertical axis to be 45°.

3. The method according to claim 2, characterized in that The reflection matrix of the dual-degree-of-freedom swing mirror is constructed based on the initial position parameters of the target, including: Assume that the coordinate components of the unit vector A of the incident light of the target in the reference coordinate system are: x3 =0, A y3 =-1, A z3 =0; The reflection matrix of the two-degree-of-freedom oscillating mirror is: Where: N x = sin(ψ), N y =cos(18.5°-θ)cos(ψ), N z =-sin(18.5°-θ)cos(ψ), ψ is the angle of rotation of the double-degree-of-freedom oscillating mirror along its heel axis, and θ is the angle of rotation of the double-degree-of-freedom oscillating mirror along its azimuth axis.

4. The method according to claim 3, characterized in that The step of constructing a reflection matrix of a first fixed reflector based on the initial position parameters of the target includes: The coordinate components of the unit vector N1 in the normal direction of the first fixed reflector in the reference coordinate system are: N x1 =0, N y1 =-sin(86°), N z1 = -cos(86°); The reflection matrix of the first fixed reflector is:

5. The method according to claim 4, characterized in that The method of constructing a reflection matrix of the second fixed reflector based on the initial position parameters of the target includes: The coordinate components of the unit vector N2 in the normal direction of the second fixed reflector in the reference coordinate system are: N x2 =0, N y2 = sin(67.5°), N z2 = -cos(67.5°); The reflection matrix of the second fixed reflector is:

6. The method according to claim 5, characterized in that The method of constructing a reflection matrix of the fast reflection mirror based on the position parameters of the fast reflection mirror at the initial position includes: The coordinate components of the unit vector N3 in the normal direction of the fast reflector in the reference coordinate system are: N x3 =0, The pitch axis rotates θ through the fast reflector * Rotation of the fast reflector along the heel axis ψ * The coordinate components in the reference coordinate system are: N x3 =sin(ψ * ), N y3 =cos(ψ * )cos(45°+θ * ), N z3 =cos(ψ * )sin(45°+θ * ); The reflection matrix of the fast mirror is:

7. The method according to claim 6, characterized in that The azimuth axis based on the five-axis decoupling control system constructs the reflection matrix of the azimuth axis, including: Rotation along the azimuth axis After that, when the rotation axis coincides with the Z axis, the reflection matrix S of the azimuth axis is:

8. The method according to claim 1, characterized in that The method of using the primal-dual path tracking method with prediction correction to solve the multivariate linear equations in real time, obtain the optimal angle adjustment of each axis, and give the solution results, including: Step 1: Convert the linear multivariate equations obtained by the five-axis spatial motion solving module into standard quadratic programming problem parameters; Step 2: Set the initial point, number of iterations and accuracy requirements; Step 3: Build a KKT system at the current iteration point, obtain the prediction step direction value through matrix decomposition calculation; calculate the prediction step in the prediction step direction; Step 4: Calculate the reduction factor based on the prediction direction and prediction step size. Use the reduction factor to constrain the search range and balance search efficiency and feasibility. Step 5: Calculate the correction step direction value by constraining the correction by the reduction factor; Step 6: Calculate the step value in the direction of the correction step; Step 7: Calculate the new iteration value by correcting the step direction value and the step value; Step 8: Calculate a new dual interval using the new iteration value, and determine the convergence of the iteration using the new dual interval. Step 9: Determine whether the dual interval meets the accuracy requirements. If it meets the accuracy requirements, the angle at this time is determined to be the optimal result. If it does not meet the requirements, return to step 3 and repeat the calculation until it meets the accuracy requirements.

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