A collimating device, method and terminal

Abstract

This invention provides a tracking device, method, and terminal, comprising: an optical antenna, a turntable, a precision aiming mirror, a beam splitter, a spot detector, a laser, and a wavefront controller. The wavefront controller modulates the deflection angle and beam divergence angle of the emitted laser beam. When a laser beam is emitted towards a target satellite, the emitted laser beam is generated by the laser, modulated by the wavefront controller, split by the beam splitter, precisely angle-corrected by the precision aiming mirror, and finally emitted by the optical antenna. The main controller obtains the required deflection angle and the target satellite's velocity based on the spot information from the spot detector. Based on the deflection angle and the target satellite's velocity, it drives at least one of the wavefront controller, the precision aiming mirror, and the turntable to deflect the emitted laser beam in real time and controls whether the wavefront controller increases the beam divergence angle of the emitted laser beam. This invention enables stable satellite tracking.

Description

Technical Field

[0001] This invention relates to the field of satellite laser communication technology, and in particular to a tracking and aiming device, method and terminal. Background Technology

[0002] Laser communication boasts high communication speeds, long transmission distances, and strong anti-interference capabilities, making it an increasingly important communication method for deep space and deep-sea exploration in recent years. Faster and farther transmission distances have become crucial development requirements for satellite laser communication. In space, the divergence angle of laser signals emitted by satellites is extremely small, only 40 microradians, and the transmission process is affected by various heat and light conditions. However, through beacon-less acquisition and tracking technology, equipment terminals can quickly capture and track signals of the same frequency, achieving integrated operations across the entire process of signal aiming, acquisition, docking, and collection, thereby significantly improving inter-satellite and satellite-to-ground transmission rates.

[0003] During the laser communication tracking phase, the laser communication terminal processes the received spot information and then drives the tracking and aiming device in real time to compensate for the angular errors caused by platform vibration, dynamic lag, and relative motion during the tracking process, so as to keep the beam emitted by the satellite at the other end imaged in the center of the detector, thereby maintaining the stability of the laser communication link.

[0004] Currently, inter-satellite laser communication systems mainly employ composite axis tracking technology. Coarse tracking enables tracking of large-angle attitude changes, while fine tracking compensates for the residuals of coarse tracking and achieves precise tracking. Therefore, the final tracking accuracy of an inter-satellite laser communication system is generally determined by fine tracking. However, composite axis tracking technology is susceptible to pointing errors (including payload pointing errors, platform jitter errors, etc.), which can lead to the disconnection of the inter-satellite laser link during satellite motion. Summary of the Invention

[0005] In view of this, the present invention provides a tracking device, method and terminal that combine wavefront modulation technology and composite axis tracking to prevent tracking chain breakage.

[0006] In a first aspect, the present invention provides a tracking aiming device, the tracking aiming device comprising:

[0007] Optical antenna;

[0008] A turntable is used to achieve coarse tracking.

[0009] A precision sight is used to achieve precise tracking.

[0010] Beam splitter;

[0011] When the spot detector receives an incident laser beam from the satellite, the incident laser beam is reduced by the optical antenna, then precisely angularly corrected by the precision aiming mirror, and then split by the beam splitter before entering the spot detector to form a spot on the spot detector.

[0012] A laser used to generate an output laser beam;

[0013] A wavefront controller is used to perform wavefront modulation on the deflection angle and beam divergence angle of the emitted laser beam. The emitted laser beam is modulated by the wavefront controller, then split by the beam splitter, then precisely corrected by the aiming mirror, and finally emitted by the optical antenna.

[0014] The main controller is used to obtain the deflection angle required for tracking and the motion speed of the counterpart satellite based on the spot information on the spot detector; based on the deflection angle and the motion speed of the counterpart satellite, drive at least one of the wavefront controller, the precision aiming mirror and the turntable to deflect the emitted laser beam in real time, and control whether the wavefront controller increases the beam divergence angle of the emitted laser beam.

[0015] Optionally, the main controller is specifically used for:

[0016] If the deflection angle is less than or equal to the first threshold and the velocity of the counterpart satellite is less than or equal to the third threshold, then a grating hologram corresponding to the deflection angle is output so that the wavefront controller can use the grating hologram to deflect the emitted laser beam in real time.

[0017] If the deflection angle is less than or equal to the first threshold and the velocity of the opposing satellite is greater than the third threshold, then a grating hologram corresponding to the deflection angle and a lens hologram corresponding to the maximum divergence angle are output so that the wavefront controller can use the grating hologram to deflect the emitted laser beam in real time and use the lens hologram to increase the divergence angle of the emitted laser beam.

[0018] If the deflection angle is greater than the first threshold and less than or equal to the second threshold, and the velocity of the opposing satellite is less than or equal to the third threshold, then the precision aiming scope is driven to deflect according to the deflection angle.

[0019] If the deflection angle is greater than the first threshold and less than or equal to the second threshold, and the velocity of the opposing satellite is greater than the third threshold, then the precision aiming mirror is driven to deflect according to the deflection angle, and at the same time, a lens hologram corresponding to the maximum beam divergence angle is output, so that the wavefront controller can use the lens hologram to increase the beam divergence angle of the emitted laser beam.

[0020] If the deflection angle is greater than the second threshold, the turntable is driven to deflect according to the deflection angle, and a lens hologram corresponding to the maximum beam divergence angle is output, so that the wavefront controller can use the lens hologram to increase the beam divergence angle of the emitted laser beam.

[0021] Optionally, the first threshold is set to 0.3 mrad, the second threshold is set to 0.5 mrad, and the third threshold is set to 1 mrad / s.

[0022] Optionally, the wavefront controller can adjust the deflection angle of the emitted laser beam within a range of 0-100 μrad.

[0023] Optionally, the wavefront controller adjusts the beam divergence angle of the emitted laser beam within a range of 40 μrad - 8 mrad.

[0024] Optionally, the wavefront controller is further configured to perform wavefront modulation on the shape of the emitted laser beam;

[0025] The main controller is also configured to output beam shape modulation parameters based on the motion trajectory of the peer satellite, so that the wavefront controller can perform wavefront modulation on the shape of the emitted laser beam based on the beam shape modulation parameters, and the motion trajectory is obtained based on the spot information at multiple times.

[0026] Optionally, if the trajectory of the satellite at the other end is linear, a circular or elliptical beam is used; if the trajectory of the satellite at the other end is arc-shaped, a square beam is used.

[0027] Secondly, the present invention provides a tracking and aiming method, comprising:

[0028] Based on the spot information on the spot detector, the deflection angle required for tracking and the velocity of the target satellite are obtained;

[0029] Based on the deflection angle and the velocity of the opposing satellite, at least one of the wavefront controller, the precision aiming mirror, and the turntable is driven to deflect the emitted laser beam in real time, and the wavefront controller is controlled to increase the beam divergence angle of the emitted laser beam.

[0030] Optionally, the step of driving at least one of the wavefront controller, the precision aiming mirror, and the turntable to deflect the emitted laser beam in real time based on the deflection angle and the velocity of the counterpart satellite, and controlling whether the wavefront controller increases the beam divergence angle of the emitted laser beam, includes:

[0031] If the deflection angle is less than or equal to the first threshold and the velocity of the counterpart satellite is less than or equal to the third threshold, then a grating hologram corresponding to the deflection angle is output so that the wavefront controller can use the grating hologram to deflect the emitted laser beam in real time.

[0032] If the deflection angle is less than or equal to the first threshold and the velocity of the opposing satellite is greater than the third threshold, then a grating hologram corresponding to the deflection angle and a lens hologram corresponding to the maximum divergence angle are output so that the wavefront controller can use the grating hologram to deflect the emitted laser beam in real time and use the lens hologram to increase the divergence angle of the emitted laser beam.

[0033] If the deflection angle is greater than the first threshold and less than or equal to the second threshold, and the velocity of the opposing satellite is less than or equal to the third threshold, then the precision aiming scope is driven to deflect according to the deflection angle.

[0034] If the deflection angle is greater than the first threshold and less than or equal to the second threshold, and the velocity of the opposing satellite is greater than the third threshold, then the precision aiming mirror is driven to deflect according to the deflection angle, and at the same time, a lens hologram corresponding to the maximum beam divergence angle is output, so that the wavefront controller can use the lens hologram to increase the beam divergence angle of the emitted laser beam.

[0035] If the deflection angle is greater than the second threshold, the turntable is driven to deflect according to the deflection angle, and a lens hologram corresponding to the maximum beam divergence angle is output, so that the wavefront controller can use the lens hologram to increase the beam divergence angle of the emitted laser beam.

[0036] Thirdly, the present invention provides a terminal, the terminal including the tracking and aiming device as described in the first aspect.

[0037] The tracking and aiming device, method, and terminal provided by this invention perform wavefront modulation of the deflection angle and beam divergence angle of the emitted laser beam using a wavefront controller, followed by beam splitting by a beam splitter, precise angle correction by a fine aiming mirror, and finally emission from an optical antenna. Compared to existing technologies, by combining wavefront modulation technology with coarse-fine composite axis tracking, and achieving small deflection angles in advance based on the wavefront controller, non-mechanical small deflection angles (on the order of μrad) can be achieved. Increasing the beam divergence angle prevents tracking chain breakage, enabling continuous and stable laser communication tracking and reducing link establishment. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the tracking and aiming device in one embodiment of the present invention. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] It should be noted that the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0041] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0042] This invention provides a tracking and aiming device that can be applied to laser communication terminals, such as... Figure 1 As shown, it includes: an optical antenna 11, a fine aiming mirror 12, a beam splitter 13, a spot detector 14, a main controller 15, a laser 16, a wavefront controller 17, and a turntable 18; wherein the turntable 18 is used to achieve coarse tracking, the fine aiming mirror 12 is used for fine tracking, and the laser 16 is used to generate the emitted laser beam.

[0043] When the incident laser beam is received from the satellite at the other end, the incident laser beam is reduced by the optical antenna 11, then the precise angle is corrected by the precision aiming mirror 12, and then the beam is split by the beam splitter 13 and enters the spot detector 14, forming a spot on the spot detector 14.

[0044] The wavefront controller 17 is used to perform wavefront modulation on the deflection angle and beam divergence angle of the emitted laser beam so that the deflection angle is deflected by a small angle in advance and the beam divergence angle is increased. After the wavefront modulation of the wavefront controller 17, the emitted laser beam is split by the beam splitter 13, and after the precise angle correction by the precision sight 12, it is finally emitted by the optical antenna 11.

[0045] The main controller 15 is used to obtain the deflection angle required for tracking and the motion speed of the target satellite based on the spot information on the spot detector 14; based on the deflection angle and the motion speed of the target satellite, it drives at least one of the wavefront controller 17, the precision aiming mirror 12 and the turntable 18 to deflect the emitted laser beam in real time, and controls whether the wavefront controller 17 increases the beam divergence angle of the emitted laser beam.

[0046] In one implementation, the main controller 15 first analyzes the motion speed of the peer satellite. If the motion speed of the peer satellite is less than the set threshold, it is considered that the motion speed of the peer satellite is slow. Therefore, the precision aiming mirror 12 and the turntable 18 do not need to be deflected. Only the wavefront controller 17 is used to deflect the beam to increase the beam divergence angle of the emitted laser beam. If the motion speed of the peer satellite is greater than or equal to the set threshold, it is considered that the motion speed of the peer satellite is fast. The deflection of the precision aiming mirror 12, the deflection of the turntable 18 and the beam deflection of the wavefront controller 17 can be combined to increase the beam divergence angle of the emitted laser beam.

[0047] The specific analysis is as follows:

[0048] Assume the pointing angle of the satellite at time t1 is... , The angle relative to absolute zero is used to process and analyze the spot information using the centroid method to generate the miss distance. Kalman filtering is then applied to the miss distance to obtain the predicted position of the target satellite at time t2, at which point the pointing angle is... Then the deflection angle is Time difference The speed of the opposing satellite .

[0049] Case 1: If the deflection angle ≤0.3mrad, relatively slow movement speed (v≤1mrad / s), the main controller 15 outputs the corresponding deflection angle. The wavefront controller 17 uses a grating hologram to deflect the beam in real time, pointing it towards the target satellite. The corresponding deflection angle... The grating hologram can be generated according to the grating equation formula. Here, the deflection angle is selected. The value of ≤0.3mrad is taken into account the diffraction efficiency of the wavefront controller.

[0050] Case 2: If the deflection angle ≤0.3mrad, relatively fast movement speed (v>1mrad / s), the main controller 15 outputs the corresponding deflection angle The wavefront controller 17 overlays the grating hologram and the lens hologram corresponding to the maximum beam divergence angle α. The grating hologram is used to deflect the beam in real time, pointing it towards the target satellite. The grating hologram corresponding to the deflection angle can be generated according to the grating equation formula. Simultaneously, the lens hologram is used to increase the beam divergence angle of the emitted laser beam. The beam divergence angle value can be calculated based on the link budget, determining the maximum beam divergence angle α at that link distance, thus preventing link breakage due to excessively fast target terminal movement.

[0051] Case 3: If the deflection angle Larger (0.3mrad < When the speed is ≤0.5mrad and the movement speed is relatively slow (v≤1mrad / s), the deflection is controlled by the precision aiming scope 12. Pointing towards the opposite satellite. The deflection angle of the precision sight is between 0.1 and 3 mrad.

[0052] Case 4: If the deflection angle Larger (0.3mrad < When the speed is ≤0.5mrad / s or the movement speed is relatively fast (v>1mrad / s), the deflection is controlled by the precision aiming scope 12. The beam divergence angle of the emitted laser beam is increased by using a lens hologram to point to the satellite at the other end. The beam divergence angle value can be calculated based on the link budget to determine the maximum beam divergence angle α at the link distance, which can prevent the link from breaking due to the target terminal moving too fast.

[0053] Case 5: If the deflection angle When the deflection angle is greater than 0.5 mrad, the turntable is deflected by 18 to the corresponding angle, pointing towards the target satellite. Because the turntable's deflection accuracy is lower than that of the sight and wavefront controller, and the wavefront controller uses a lens hologram to increase the beam divergence angle of the emitted laser beam, the beam divergence angle value can be calculated based on the link budget to determine the maximum beam divergence angle α at that link distance. This prevents link breakage due to excessively fast target terminal movement. The turntable deflection angle is greater than 3 mrad.

[0054] Assuming a link distance of 1000km, the deflection angle can be obtained from the analysis of the satellite's trajectory at the other end. = 0.2mrad, velocity v = 1.3mrad / s, and standard deviations of motion in the x and y directions σ1=σ2=5μrad, when the wavefront controller superimposes the grating hologram and lens hologram, the grating hologram corresponding to the deflection angle can be generated according to the grating equation formula:

[0055]

[0056] in , For the required grating period, For the wavefront controller pixel size, The angle of incidence, For deflection angle, The wavelength of the beam is given. Simultaneously, a lens hologram is used to increase the beam divergence angle of the emitted laser beam. The beam divergence angle value can be calculated based on the link budget. The maximum beam divergence angle α corresponding to this link distance is 595 μrad. Then, the focal length of the wavefront controller lens hologram is calculated using the following formula. ;

[0057]

[0058] in The beam waist incident on the wavefront controller, The wavelength of the light beam. The multiple of the optical antenna. This is the maximum allowable beam divergence angle available from the link budget.

[0059] By using the phase diagram of the grating with superimposed period T and the lens with focal length f, beam modulation can be achieved, increasing the beam divergence angle of the emitted laser beam while pointing it towards the opposite satellite, thus preventing the laser link from breaking down.

[0060] In one embodiment, the wavefront controller 17 is also used to perform wavefront modulation on the shape of the emitted laser beam;

[0061] The main controller 15 is also used to output beam shape modulation parameters according to the motion trajectory of the peer satellite, so that the wavefront controller 17 can perform wavefront modulation on the shape of the emitted laser beam according to the beam shape modulation parameters. The motion trajectory of the peer satellite is obtained based on the spot information at multiple times.

[0062] For example, if the trajectory of the receiving satellite is linear, a circular or elliptical beam is used. When the trajectory is linear, the standard deviations σ1 and σ2 of the satellite's motion in the x and y directions can be analyzed. A beam with corresponding circularity can then be generated based on σ1 and σ2. If the trajectory is arc-shaped, a square beam is used.

[0063] In summary, in this embodiment, the wavefront controller 17 is used to perform wavefront modulation on the emitted laser beam by loading a phase diagram corresponding to the modulation mode, so as to achieve effects such as changing the beam divergence angle and precise offset, including wavefront modulation of the beam divergence angle, deflection angle, and beam shape. The adjustment range of the deflection angle is 0-100 μrad. The adjustment range of the beam divergence angle is 40 μrad - 8 mrad. The beam shape can be circular, elliptical, or square.

[0064] Finally, it should be noted that in this application, the wavefront controller 17 can be any of the following: MEMS (micro-electrical-mechanical system) micromirrors, deformable mirrors, digital micromirror devices (DMDs), or spatial light modulators.

[0065] The tracking process of the aiming device according to an embodiment of the present invention will be described below.

[0066] During two-way satellite tracking, the optical antenna receives the laser beam from the peer satellite, forming a spot on the spot detector. The main controller first analyzes the speed of the peer satellite. If the speed is less than a set threshold, it is considered slow, and the precision sight and turntable do not need to be deflected; only the wavefront controller is used to deflect the beam, increasing the divergence angle of the emitted laser beam. If the speed is greater than or equal to the set threshold, it is considered fast, and the deflection of the precision sight, the turntable, and the wavefront controller beam deflection are combined to simultaneously increase the divergence angle of the emitted laser beam.

[0067] The tracking and aiming device provided in this invention is suitable for laser communication terminals. It introduces wavefront modulation technology of wavefront controllers into laser communication tracking and aiming. By combining wavefront modulation technology with coarse and fine composite axis tracking, and based on the wavefront controller, it achieves a small deflection angle in advance of the emitted laser beam, which can achieve a small deflection angle (on the order of μrad) without mechanical means. In addition, increasing the beam divergence angle of the emitted laser beam can prevent tracking link breakage, achieve continuous and stable tracking in laser communication, and reduce link establishment.

[0068] On the other hand, embodiments of the present invention also provide a tracking aiming method, including:

[0069] Step S1: Based on the spot information on the spot detector, obtain the deflection angle required for tracking and the velocity of the target satellite;

[0070] Step S2: Based on the deflection angle and the speed of the target satellite, drive at least one of the wavefront controller, the precision aiming mirror, and the turntable to deflect the emitted laser beam in real time, and control the wavefront controller to increase the beam divergence angle of the emitted laser beam.

[0071] In step S2, based on the deflection angle and the velocity of the target satellite, at least one of the wavefront controller, the precision aiming mirror, and the turntable is driven to deflect the emitted laser beam in real time, and the wavefront controller is controlled to increase the beam divergence angle of the emitted laser beam, including:

[0072] If the deflection angle is less than or equal to the first threshold and the velocity of the other satellite is less than or equal to the third threshold, then the corresponding grating hologram is output so that the wavefront controller can use the grating hologram to deflect the emitted laser beam in real time.

[0073] If the deflection angle is less than or equal to the first threshold and the velocity of the satellite at the other end is greater than the third threshold, then the grating hologram corresponding to the deflection angle and the lens hologram corresponding to the maximum beam divergence angle are output so that the wavefront controller can use the grating hologram to deflect the outgoing laser beam in real time and use the lens hologram to increase the beam divergence angle of the outgoing laser beam.

[0074] If the deflection angle is greater than the first threshold and less than or equal to the second threshold, and the velocity of the other satellite is less than or equal to the third threshold, then the precision aiming scope is driven to deflect according to the deflection angle.

[0075] If the deflection angle is greater than the first threshold and less than or equal to the second threshold, and the velocity of the satellite at the other end is greater than the third threshold, then the precision aiming mirror is driven to deflect according to the deflection angle, and at the same time, the lens hologram corresponding to the maximum beam divergence angle is output so that the wavefront controller can use the lens hologram to increase the beam divergence angle of the emitted laser beam.

[0076] If the deflection angle is greater than the second threshold, the turntable is driven to deflect according to the deflection angle, and at the same time, a lens hologram corresponding to the maximum beam divergence angle is output so that the wavefront controller can use the lens hologram to increase the beam divergence angle of the emitted laser beam.

[0077] In one embodiment, the first threshold is set to 0.3 mrad, the second threshold is set to 0.5 mrad, and the third threshold is set to 1 mrad / s.

[0078] The tracking aiming method provided in this embodiment of the invention is based on the aforementioned tracking aiming device embodiment and can produce the same technical effect.

[0079] On the other hand, embodiments of the present invention also provide a terminal, which includes the tracking and aiming device of the aforementioned embodiments.

[0080] It should be noted that the terminal can be a satellite laser communication terminal or a ground station laser communication terminal.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tracking and aiming device, characterized in that, The tracking and aiming device includes: Optical antenna; A turntable is used to achieve coarse tracking. A precision sight is used to achieve precise tracking. Beam splitter; When the spot detector receives an incident laser beam from the other satellite, the incident laser beam is reduced by the optical antenna, then passes through the precision aiming mirror, and then is split by the beam splitter before entering the spot detector, forming a spot on the spot detector; A laser used to generate an outgoing laser beam; A wavefront controller is used to perform wavefront modulation on the deflection angle and beam divergence angle of the emitted laser beam. The emitted laser beam is modulated by the wavefront controller, then split by the beam splitter, then passes through the precision aiming mirror, and finally emitted by the optical antenna. The main controller is used to obtain the deflection angle required for tracking and the motion speed of the counterpart satellite based on the spot information on the spot detector; based on the deflection angle and the motion speed of the counterpart satellite, drive at least one of the wavefront controller, the precision aiming mirror and the turntable to deflect the emitted laser beam in real time, and control whether the wavefront controller increases the beam divergence angle of the emitted laser beam; The wavefront controller is also used to perform wavefront modulation on the shape of the emitted laser beam; The main controller is also used to output beam shape modulation parameters according to the motion trajectory of the peer satellite, so that the wavefront controller modulates the shape of the emitted laser beam according to the beam shape modulation parameters. The motion trajectory is obtained based on the spot information at multiple times. If the motion trajectory of the peer satellite is linear, a circular or elliptical beam is used; if the motion trajectory of the peer satellite is arc-shaped, a square beam is used.

2. The tracking and aiming device according to claim 1, characterized in that, The main controller is specifically used for: If the deflection angle is less than or equal to the first threshold and the velocity of the counterpart satellite is less than or equal to the third threshold, then a grating hologram corresponding to the deflection angle is output so that the wavefront controller can use the grating hologram to deflect the emitted laser beam in real time. If the deflection angle is less than or equal to the first threshold and the velocity of the opposing satellite is greater than the third threshold, then a grating hologram corresponding to the deflection angle and a lens hologram corresponding to the maximum divergence angle are output, so that the wavefront controller uses the grating hologram to deflect the emitted laser beam in real time and uses the lens hologram to increase the divergence angle of the emitted laser beam. If the deflection angle is greater than the first threshold and less than or equal to the second threshold, and the velocity of the opposing satellite is less than or equal to the third threshold, then the precision aiming scope is driven to deflect according to the deflection angle. If the deflection angle is greater than the first threshold and less than or equal to the second threshold, and the velocity of the opposing satellite is greater than the third threshold, then the precision aiming mirror is driven to deflect according to the deflection angle, and at the same time, a lens hologram corresponding to the maximum beam divergence angle is output, so that the wavefront controller uses the lens hologram to increase the beam divergence angle of the emitted laser beam. If the deflection angle is greater than the second threshold, the turntable is driven to deflect according to the deflection angle, and a lens hologram corresponding to the maximum beam divergence angle is output, so that the wavefront controller uses the lens hologram to increase the beam divergence angle of the emitted laser beam.

3. The tracking and aiming device according to claim 2, characterized in that, The first threshold is set to 0.3 mrad, the second threshold is set to 0.5 mrad, and the third threshold is set to 1 mrad / s.

4. The tracking and aiming device according to claim 1, characterized in that, The wavefront controller adjusts the deflection angle of the emitted laser beam within a range of 0-100 μrad.

5. The tracking and aiming device according to claim 1, characterized in that, The wavefront controller adjusts the beam divergence angle of the emitted laser beam within a range of 40 μrad - 8 mrad.

6. A tracking aiming method, characterized in that, Applied to the tracking and aiming device as described in claim 1, the tracking and aiming method includes: Based on the spot information on the spot detector, the deflection angle required for tracking and the velocity of the target satellite are obtained; Based on the deflection angle and the speed of the opposing satellite, at least one of the wavefront controller, the precision aiming mirror, and the turntable is driven to deflect the emitted laser beam in real time, and the wavefront controller is controlled to increase the beam divergence angle of the emitted laser beam. Based on the motion trajectory of the peer satellite, beam shape modulation parameters are output so that the wavefront controller modulates the shape of the emitted laser beam according to the beam shape modulation parameters. The motion trajectory is obtained based on the spot information at multiple times. If the motion trajectory of the peer satellite is linear, a circular or elliptical beam is used; if the motion trajectory of the peer satellite is arc-shaped, a square beam is used.

7. The tracking and aiming method according to claim 6, characterized in that, The step of driving at least one of the wavefront controller, the precision aiming mirror, and the turntable to deflect the emitted laser beam in real time based on the deflection angle and the velocity of the counterpart satellite, and controlling whether the wavefront controller increases the beam divergence angle of the emitted laser beam, includes: If the deflection angle is less than or equal to the first threshold and the velocity of the counterpart satellite is less than or equal to the third threshold, then a grating hologram corresponding to the deflection angle is output so that the wavefront controller can use the grating hologram to deflect the emitted laser beam in real time. If the deflection angle is less than or equal to the first threshold and the velocity of the opposing satellite is greater than the third threshold, then a grating hologram corresponding to the deflection angle and a lens hologram corresponding to the maximum divergence angle are output, so that the wavefront controller uses the grating hologram to deflect the emitted laser beam in real time and uses the lens hologram to increase the divergence angle of the emitted laser beam. If the deflection angle is greater than the first threshold and less than or equal to the second threshold, and the velocity of the opposing satellite is less than or equal to the third threshold, then the precision aiming scope is driven to deflect according to the deflection angle. If the deflection angle is greater than the first threshold and less than or equal to the second threshold, and the velocity of the opposing satellite is greater than the third threshold, then the precision aiming mirror is driven to deflect according to the deflection angle, and at the same time, a lens hologram corresponding to the maximum beam divergence angle is output, so that the wavefront controller uses the lens hologram to increase the beam divergence angle of the emitted laser beam. If the deflection angle is greater than the second threshold, the turntable is driven to deflect according to the deflection angle, and a lens hologram corresponding to the maximum beam divergence angle is output, so that the wavefront controller uses the lens hologram to increase the beam divergence angle of the emitted laser beam.

8. A terminal, characterized in that, The terminal includes the tracking device as described in any one of claims 1 to 5.

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