An extended target aiming device and method based on a spatial sampling filter

Abstract

This invention provides an extended target aiming device and method based on a spatially sampled filter, comprising: a laser, an adaptive fiber collimator, a telescope, a beam splitter, a first lens, a CCD, a turntable, a reflector, a second lens, a first filter, a photodetector, and a controller. The laser emits light that passes through the adaptive fiber collimator to form a spatially collimated beam, which is then emitted to the extended target. The reflected light is received by the telescope. Part of the received reflected light is split by the beam splitter and focused onto the surface of the photodetector by the second lens; the other part is focused by the first lens onto the CCD to generate the performance indicators required for turntable control, achieving initial tracking and ensuring that the focal spot on the photodetector surface remains stable near the target surface. The first filter mounted on the photodetector surface modulates the light intensity of the focal spot, generating voltages of varying intensities. The adaptive fiber collimator adjusts the beam direction according to this voltage to achieve precise aiming at the extended target, improving the laser's pointing control accuracy.

Description

Technical Field

[0001] This invention relates to the field of laser spatial laser beam pointing and control technology, and in particular to an extended target aiming device and method based on a spatial sampling filter. Background Technology

[0002] Laser, as a directed energy source, boasts extremely high energy transmission efficiency. However, due to the narrow beam direction, precise beam pointing is crucial in these applications. Traditional target-in-the-loop (SILO) laser beam aiming methods place a telescope coaxial with the transmitting antenna at the receiving end to receive the reflected light from the target. A photodetector (PD) is placed on the focal plane of the telescope to receive the focal spot of the reflected light. After photoelectric conversion, the beam pointing control algorithm obtains the performance indicators needed to achieve precise target aiming. However, in practical applications such as laser power transfer and laser communication, most targets are extended targets rather than point targets. In these cases, to ensure system performance, the laser beam needs to be precisely aimed at a specific location on the target (e.g., in laser power transfer applications for UAVs, the laser beam needs to be precisely aimed at the solar panel on the UAV, not the UAV itself). Traditional SILO laser beam aiming schemes only optimize beam pointing using the reflected light from the target. Once the beam illuminates the surface of the extended target and the target's optical reflection characteristics do not change significantly, the intensity of the received reflected light will not fluctuate significantly as the laser beam moves across the target. The control algorithm will also be unable to perceive the effective gradient changes in performance indicators, thus failing to achieve precise aiming at a specific location on the extended target. Summary of the Invention

[0003] Therefore, it is necessary to provide an extended target aiming device and method based on a spatial sampling filter to address the aforementioned technical problems.

[0004] An extended target aiming device based on a spatial sampling filter includes: a laser, an adaptive fiber collimator, a telescope, a beam splitter, a first lens, a CCD, a turntable, a reflector, a second lens, a first filter, a photodetector, and a controller; wherein the laser, the adaptive fiber collimator, the telescope, the beam splitter, the first lens, the CCD, the reflector, the second lens, and the photodetector are all mounted on the turntable;

[0005] The laser generates laser light, and the adaptive fiber collimator is positioned in the propagation path of the laser light to disperse the laser light into a spatially collimated beam, and emits the spatially collimated beam onto the extended target surface to obtain reflected light.

[0006] The telescope is positioned along the propagation path of the reflected light, which propagates through the telescope to the beam splitter. The optical axis of the telescope is coaxial with the direction of the reflected light.

[0007] The beam splitter is positioned on the propagation path of the reflected light, dividing the reflected light into a first beam and a second beam.

[0008] The first lens is positioned on the propagation path of the first beam to focus the first beam onto the CCD and generate the control parameters required for turntable control.

[0009] The turntable is communicatively connected to the CCD, receives the control parameters, and implements control according to the control parameters to keep the focal spot on the surface of the photodetector stable near the target surface of the photodetector.

[0010] The second lens is positioned on the propagation path of the second beam and focuses the second beam onto the first filter;

[0011] The first filter is mounted on the surface of the photodetector to control the light intensity of the focal spot on the surface of the photodetector. The photodetector converts the focal spot into an electrical signal to obtain a control electrical signal, and sends the control electrical signal to the controller.

[0012] The controller receives the control electrical signal and controls the adaptive fiber collimator to adjust the illumination angle of the spatial collimating beam, thereby achieving precise aiming at the extended target.

[0013] In one embodiment, focusing the first beam onto the CCD to generate the control parameters required for turntable control includes:

[0014] The first beam is obtained, and the control index is calculated by executing the first control algorithm based on the first beam.

[0015] In one embodiment, the first control algorithm includes:

[0016] SPGD algorithm, reinforcement learning algorithm and PID algorithm.

[0017] In one embodiment, the controller receives the control electrical signal and controls the adaptive fiber optic collimator to adjust the illumination angle of the spatial collimated beam, achieving precise aiming at the extended target, including:

[0018] The controller receives the control electrical signal and controls the adaptive fiber collimator to execute a second control algorithm according to the control electrical signal to adjust the illumination angle of the spatial collimating beam, thereby achieving precise aiming at the extended target.

[0019] In one embodiment, the second control algorithm includes:

[0020] SPGD algorithm, reinforcement learning algorithm and PID algorithm.

[0021] In one embodiment, it further includes: a microscope objective;

[0022] The microscope objective is positioned after the second lens and on the propagation path of the second beam splitter to improve the resolution of the second beam splitter.

[0023] In one embodiment, it further includes: a second filter;

[0024] The second filter is placed before the first filter, on the propagation path of the second beam, to filter out infrared light in the second beam and retain visible light, so that the photodetector can generate more precise control electrical signals.

[0025] In one embodiment, it further includes: a third filter;

[0026] The third filter is disposed between the first lens and the CCD to filter out infrared light in the first beam splitter, retaining visible light, so that the CCD generates more precise control parameters. An extended target aiming method based on a spatial sampling filter, used in the extended target aiming method based on a spatial sampling filter as described above, includes:

[0027] A laser generates laser light, and an adaptive fiber collimator is placed in the propagation path of the laser light to disperse the laser light into a spatially collimated beam. The spatially collimated beam is then emitted onto the surface of the extended target to obtain reflected light.

[0028] The telescope is positioned along the propagation path of the reflected light, which propagates through the telescope to the beam splitter. The optical axis of the telescope is coaxial with the direction of the reflected light.

[0029] The beam splitter is positioned on the propagation path of the reflected light, dividing the reflected light into a first beam and a second beam.

[0030] The first lens is placed on the propagation path of the first beam and focuses the first beam onto the CCD to generate the control parameters required for turntable control.

[0031] The turntable is communicatively connected to the CCD, receives the control parameters, and implements control according to the control parameters to keep the focal spot on the surface of the photodetector stable near the target surface of the photodetector.

[0032] The second lens is positioned on the propagation path of the second beam and focuses the second beam onto the first filter;

[0033] The first filter is mounted on the surface of the photodetector to control the light intensity of the focal spot on the surface of the photodetector. The photodetector converts the focal spot into an electrical signal to obtain a control electrical signal, which is then sent to the controller.

[0034] The controller receives the control electrical signal and controls the adaptive fiber collimator to adjust the illumination angle of the spatial collimating beam, thereby achieving precise aiming at the extended target.

[0035] Compared to existing technologies, the advantages and beneficial effects of this invention are as follows: This invention introduces a spatially sampling filter. The arrangement of the apertures in the spatially sampling filter is sensitive to the position of the focal spot. The photodetector outputs the strongest signal only when the light intensity passing through the filter is at its maximum. This spatial filtering effect significantly improves aiming accuracy. The spatially sampling filter also blocks stray light from the edge of the focal spot, reducing background noise interference with the photodetector signal.

[0036] Unlike traditional methods that rely on CCD image processing to extract the focal spot position, spatial sampling filters directly reflect the focal spot position through the output signal of a photodetector, simplifying the data processing flow. Spatial sampling filters have a simple structure, are easy to manufacture and integrate, reducing the need for high-resolution CCDs and complex algorithms. The aperture arrangement of spatial sampling filters can be optimized according to the characteristics of the extended target (such as shape and size), making them suitable for precise aiming at complex targets. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of an extended target aiming device based on a spatial sampling filter in one embodiment;

[0038] Figure 2 This is a schematic diagram of the structure of the first filter in one embodiment;

[0039] Figure 3 This is a schematic diagram of the light intensity distribution after passing through the first filter in one embodiment.

[0040] Figure 4 This is a schematic diagram of the testing process for the first filter of the system in one embodiment;

[0041] Figure 5 This is a schematic diagram of the light intensity transmittance curve in one embodiment.

[0042] In the diagram, 1-laser, 2-adaptive fiber collimator, 3-telescope, 4-beam splitter, 5-first lens, 6-CCD, 7-turntable, 8-mirror, 9-second lens, 10-first filter, 11-photodetector, 12-controller, 13-microscope objective, 14-second filter, 15-third filter. Detailed Implementation

[0043] Before describing the specific embodiments of the present invention, the overall concept of the present invention will be explained as follows:

[0044] This invention is mainly developed to extend the target aiming process. Currently, traditional laser aiming systems lack accuracy in extended target aiming and cannot effectively perceive gradient changes at specific locations of the extended target.

[0045] Therefore, this invention proposes an extended target aiming device based on a spatially sampled filter. By introducing a spatially sampled filter into the loop beam aiming system, this filter is made by punching a specific arrangement of light-transmitting holes in an opaque mask. When the beam moves across the extended target surface, the focal spot of its reflected light is blocked by the filter. Only when most of the focal spot energy can pass through the filter can the voltage value output by the photodetector reach the optimal value during the aiming process. This allows the beam pointing control algorithm to further adjust the beam pointing, enhancing the ability to sense the reflected light signal from the extended target, optimizing the laser beam pointing control, and ensuring precise aiming at specific locations (such as solar panels) on the extended target surface, thereby improving laser energy transfer efficiency and stability.

[0046] After introducing the overall concept of the present invention, in order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings.

[0047] It should be noted that, unless otherwise defined, the technical or scientific terms used in one or more embodiments of this specification should have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in one or more embodiments of this specification do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word covers the element or object listed following the word and its equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0048] For ease of understanding, the terms used in the embodiments of this invention are explained below:

[0049] CCD: Charge-Coupled Device.

[0050] SPGD algorithm: Stochastic Parallel Gradient Descent algorithm.

[0051] PID algorithm: Proportional-Integral-Derivative algorithm.

[0052] In one embodiment, such as Figure 1 As shown, an extended target aiming device based on a spatial sampling filter is provided, including: a laser 1, an adaptive fiber collimator (AFOC) 2, a telescope 3, a beam splitter 4, a first lens 5, a CCD 6, a turntable 7, a reflector 8, a second lens 9, a first filter 10, a photodetector 11, and a controller 12; wherein, the laser 1, the adaptive fiber collimator 2, the telescope 3, the beam splitter 4, the first lens 5, the CCD 6, the reflector 8, the second lens 9, and the photodetector (PD) 11 are all mounted on the turntable 7.

[0053] Laser 1 generates laser light, and adaptive fiber collimator 2 is placed in the propagation path of the laser light to disperse the laser light into a spatially collimated beam. The spatially collimated beam is emitted to the surface of the extended target and diffusely reflected by the extended target to obtain the reflected light.

[0054] Telescope 3 is positioned along the propagation path of the reflected light. The reflected light propagates through telescope 3 to beam splitter 4. The optical axis of telescope 3 is coaxial with the direction of the reflected light. Telescope 3 is used to receive the reflected light and to focus it after beam splitting, thereby generating the performance indicators required for coarse tracking by turntable 7 and fine tracking by adaptive fiber collimator 2.

[0055] Beam splitter 4 is positioned on the propagation path of the reflected light, dividing the reflected light into a first beam and a second beam.

[0056] The first lens 5 is positioned on the propagation path of the first beam, focusing the first beam onto the CCD 6 to generate the control parameters required for the turntable 7.

[0057] The turntable 7 is connected to the CCD 6 for communication, receives control parameters, and implements control according to the control parameters to keep the focal spot on the surface of the photodetector 11 stable near the target surface of the photodetector 11.

[0058] The second lens 9 is positioned on the propagation path of the second beam and focuses the second beam onto the first filter 10.

[0059] The first filter 10 is mounted on the surface of the photodetector 11 to modulate the intensity of the focal spot on the surface of the photodetector 11, thereby achieving wavelength selection and enabling the focal spot to generate different voltage outputs as it moves across the target surface of the photodetector 11. The photodetector 11 converts the focal spot into an electrical signal to obtain a control signal, which is then sent to the controller 12.

[0060] The controller 12 receives control electrical signals and controls the adaptive fiber collimator 2 to adjust the illumination angle of the spatial collimating beam, thereby achieving precise aiming at the extended target.

[0061] The first filter 10 is a vacuum-sampled filter with holes punched at different positions. This allows light passing through the filter to reach its maximum aperture at specific locations. Through an optimization algorithm, the focal spot on the surface of the photodetector 11 moves to the position with the maximum aperture, resulting in a high focal spot intensity and thus a high output voltage from the photodetector 11. By adding the first filter 10, different light intensities can be passed through at specific positions, avoiding the problem of uniform light intensity and lack of gradient variation at every location. This enables the adaptive fiber collimator 2 to precisely adjust the illumination angle of the spatially collimated beam, achieving precise aiming at extended targets.

[0062] In one embodiment, it further includes: a microscope objective 13, which is mounted on the turntable 7, after the second lens 9, on the propagation path of the second beam, for improving the resolution of the second beam.

[0063] In one embodiment, it further includes: a second filter 14, which is mounted on the turntable 7, before the first filter 10, on the propagation path of the second beam, for filtering out infrared light in the second beam to prevent infrared interference and retain visible light, so that the photodetector 11 can generate more accurate control electrical signals to achieve fine tracking in a small field of view.

[0064] In one embodiment, it further includes a third filter 15, which is mounted on the turntable 7 and positioned between the first lens 5 and the CCD 6. The third filter 15 is used to filter out infrared light in the first beam split, retain visible light, and prevent infrared interference, so that the CCD 6 can generate more accurate control indicators and achieve coarse tracking with a large field of view.

[0065] like Figure 2The diagram illustrates a design method for a spatially sampling type first filter. By punching small holes of a specific shape and arrangement on an opaque mask, the intensity of the focal spot can be modulated. The punching method in this diagram results in a stronger output voltage of the PD when the focal spot moves to the center of the filter, making it suitable for aiming at the center of an extended target. The arrangement shape of the first filter in this invention includes, but is not limited to, a centrally symmetrical arrangement. Its core principle is to induce a specific change in the intensity of the focal spot to precisely adjust the direction of the light beam.

[0066] like Figure 3 The image shows the light intensity distribution after the light beam passes through the first filter, as directly observed in this invention. It can be seen that the light intensity transmitted through the center of the first filter is the highest, indicating that the change in the position of the focal spot after modulation by the filter can change the output voltage value of the PD.

[0067] like Figure 4 The diagram shows the test scheme for the first filter. The laser wavelength is 1064 nm, the AFOC lens has a focal length of 1 m and an aperture of 28 mm, with a spot diameter of approximately 93 μm at the focal point. The AFOC scanning range is +200 μd. Using the AFOC spatially collimated beam, the first filter is placed in front of the PD for fine, small-step scanning. The image composed of the PD voltage values ​​after scanning can be used to evaluate the light intensity transmittance distribution of the first filter.

[0068] like Figure 5 The figure shows the light transmittance curve. The platform containing the PD and the first filter was moved, with each step at the edge being 0.02 mm and each step from the center being 0.01 mm. The PD value at each position was recorded, resulting in the curve shown in the figure. (The horizontal axis represents the position of the PD and the first filter, and the vertical axis represents the corresponding PD value).

[0069] The controller 12 receives control signals and controls the adaptive fiber optic collimator 2 to adjust the illumination angle of the spatial collimated beam according to the voltage (control signal) output by the photodetector 11, thereby achieving precise aiming at the extended target. To aim at different positions of the extended target, only different arrangements of the first filter need to be designed.

[0070] Based on this, the first beam is focused onto CCD6 to generate the control parameters required for the control of turntable 7, including:

[0071] Obtain the first beam and calculate the control index based on the first control algorithm.

[0072] The first control algorithm includes:

[0073] The invention employs SPGD, reinforcement learning, and PID algorithms. The control algorithm includes, but is not limited to, SPGD, reinforcement learning, and PID algorithms. Taking the PID algorithm as an example, the CCD captures the first beam segment, generating a target image. Image processing algorithms (such as centroid method or template matching) are used to extract the spot center position or target offset. The deviation between the spot center and the target center is calculated, and this deviation is used as a control index, inputting it into the PID algorithm. The controller calculates the required adjustment amount for the turntable (such as azimuth and pitch angles) based on the deviation. This adjustment amount is converted into turntable drive signals (control indexes) (such as stepper motor pulses or servo motor voltages). The turntable adjusts the direction of the optical components, moving the spot towards the target center.

[0074] Based on this, the controller 12 receives control electrical signals and controls the adaptive fiber optic collimator 2 to adjust the illumination angle of the spatial collimated beam, thereby achieving precise aiming at the extended target, including:

[0075] The controller 12 receives the control electrical signal and controls the adaptive fiber collimator 2 to execute the second control algorithm according to the control electrical signal to adjust the illumination angle of the spatial collimating beam, thereby achieving precise aiming at the extended target.

[0076] The second control algorithm includes:

[0077] SPGD algorithm, reinforcement learning algorithm and PID algorithm.

[0078] In one embodiment, taking precise target aiming based on the SPGD control algorithm as an example, during closed-loop control, the second beam is received and a corresponding control signal is output. Then, the controller outputs a small perturbation voltage V+ to AFOC, causing a small deflection in the direction of the emitted beam. The focal spot of the second beam, modulated by the filter, generates a new performance index, denoted as J+. Subsequently, the controller outputs another set of small perturbation voltages V- to AFOC (the value of V- is opposite to V+), causing a small deflection in the opposite direction of the emitted beam. The focal spot of the second beam, modulated by the filter, generates a new performance index, denoted as J-. Then, the controller, combining the values ​​of V+, V-, J+, and J-, calculates the control voltage required for the next AFOC based on the update formula of the SPGD algorithm. Compared to traditional in-loop beam aiming methods, this method can more accurately sense the beam's position on the target, thereby enabling the photoelectric converter of the transmitting telescope to generate the corresponding performance index (voltage) output. This overcomes the shortcomings of traditional methods, which cannot achieve more precise aiming after the beam is initially aligned with the target.

[0079] This invention provides a method for precise aiming at extended targets based on a spatially sampled filter. The main difference between this invention and traditional aiming systems lies in the addition of a specially arranged array of small-aperture filters in front of the laser pointer (PD) to enhance the gradient sensing capability of the extended target's return signal, thereby achieving precise aiming at specific locations within the extended target. By optimizing the spatially sampled filter design and the beam pointing control algorithm, this invention significantly improves the performance and reliability of the laser emission system.

[0080] Traditional aiming methods rely solely on target backlight for optimization, making it difficult to achieve precise aiming at specific locations of extended targets (such as solar panels). This invention, by incorporating a spatially sampling filter, enables the backlight focal spot signal to generate a significant voltage gradient change, thereby improving the sensitivity and accuracy of the control algorithm.

[0081] Specific experiments show that, under simulated extended target surface conditions, the present invention can reduce the aiming error from 0.5 mrad in the traditional method to less than 0.1 mrad, improving accuracy by about 80%.

[0082] This invention is applicable to various scenarios such as laser energy transfer, laser communication, and multi-beam combining. It shows significant advantages, especially when the extended target has non-uniform reflection characteristics or when high-precision fixed-point energy transfer is required.

[0083] Spatial sampling filters offer flexible design options and can be customized to suit the shape and requirements of the target. For example, a matrix aperture arrangement can be designed for square solar panels, while a radially symmetrical aperture arrangement can be designed for circular targets, thus improving the versatility of the method.

[0084] In summary, this invention effectively solves the key technical problems in extended target aiming, improves the pointing and control accuracy of lasers, and provides new solutions for the practical application of technologies such as laser energy transmission, laser communication, and multi-beam combining in the future.

[0085] Based on the same inventive concept, corresponding to any of the above-described embodiments, the present invention also provides an extended target aiming method based on a spatial sampling filter.

[0086] The methods include:

[0087] A laser generates laser light, and an adaptive fiber collimator is placed in the propagation path of the laser light to disperse the laser light into a spatially collimated beam. The spatially collimated beam is then emitted onto the surface of the extended target to obtain reflected light.

[0088] The telescope is positioned along the propagation path of the reflected light, which propagates through the telescope to the beam splitter. The optical axis of the telescope is coaxial with the direction of the reflected light.

[0089] The beam splitter is positioned on the propagation path of the reflected light, dividing the reflected light into a first beam and a second beam.

[0090] The first lens is placed on the propagation path of the first beam and focuses the first beam onto the CCD to generate the control parameters required for turntable control.

[0091] The turntable is communicatively connected to the CCD, receives the control parameters, and implements control according to the control parameters to keep the focal spot on the surface of the photodetector stable near the target surface of the photodetector.

[0092] The second lens is positioned on the propagation path of the second beam and focuses the second beam onto the first filter;

[0093] The first filter is mounted on the surface of the photodetector to control the light intensity of the focal spot on the surface of the photodetector. The photodetector converts the focal spot into an electrical signal to obtain a control electrical signal, which is then sent to the controller.

[0094] The controller receives the control electrical signal and controls the adaptive fiber collimator to adjust the illumination angle of the spatial collimating beam, thereby achieving precise aiming at the extended target.

[0095] The methods described above are used in any of the foregoing embodiments for an extended target aiming device based on a spatial sampling filter, and have the beneficial effects of the corresponding device embodiments, which will not be repeated here.

[0096] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the invention (including the claims) is limited to these examples; within the framework of the invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of the invention as described above, which are not provided in the details for the sake of brevity.

[0097] Furthermore, to simplify the description and discussion, while specific details have been set forth to describe exemplary embodiments of the invention, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive. Although the invention has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art based on the foregoing description.

[0098] The embodiments of this invention are intended to cover all such substitutions, modifications, and variations falling within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this invention should be included within the protection scope of this invention.

Claims

1. An extended target sighting device based on spatially sampled filter, characterized in that, The device comprises a laser, an adaptive fiber collimator, a telescope, a beam splitter, a first lens, a CCD, a turntable, a mirror, a second lens, a first filter, a photodetector and a controller; wherein the laser, the adaptive fiber collimator, the telescope, the beam splitter, the first lens, the CCD, the mirror, the second lens and the photodetector are all installed on the turntable. The laser generates laser light, the adaptive fiber collimator is arranged on the propagation path of the laser light, disperses the laser light into a spatially collimated light beam, and emits the spatially collimated light beam to an extended target surface to obtain reflected light; The telescope is arranged on the propagation path of the reflected light, and the optical axis direction of the telescope is coaxial with the direction of the reflected light; The beam splitter is arranged on the propagation path of the reflected light, and divides the reflected light into a first beam and a second beam; The first lens is arranged on the propagation path of the first beam, focuses the first beam to the CCD, and generates a control index required for turntable control; The turntable and the CCD are communicatively connected, receive the control index, and control the photodetector according to the control index so that the focal spot on the surface of the photodetector is always stable near the target surface of the photodetector; The second lens is arranged on the propagation path of the second beam, and focuses the second beam to the first filter; The first filter is installed on the surface of the photodetector, controls the light intensity of the focal spot on the surface of the photodetector, the photodetector converts the focal spot into an electrical signal to obtain a control electrical signal, and the control electrical signal is sent to the controller; The controller receives the control electrical signal, controls the adaptive fiber collimator to adjust the irradiation angle of the spatially collimated light beam, and realizes accurate aiming at the extended target. The focusing of the first beam to the CCD to generate a control index required for turntable control comprises:

2. The extended target sighting device based on spatial sampling type filter according to claim 1, characterized in that, Obtaining the first beam, and calculating a control index according to a first control algorithm based on the first beam. The first control algorithm comprises:

3. The extended target sighting device based on spatial sampling type filter according to claim 2, characterized in that, SPGD algorithm, reinforcement learning algorithm and PID algorithm. The controller receives the control electrical signal, controls the adaptive fiber collimator to adjust the irradiation angle of the spatially collimated light beam, and realizes accurate aiming at the extended target.

4. The extended target sighting device based on spatial sampling type filter according to claim 1, characterized in that, The controller receives the control electrical signal, controls the adaptive fiber collimator to adjust the irradiation angle of the spatially collimated light beam according to a second control algorithm based on the control electrical signal, and realizes accurate aiming at the extended target. The second control algorithm comprises:

5. The extended target sighting device based on spatially sampled filter according to claim 4, characterized in that, SPGD algorithm, reinforcement learning algorithm and PID algorithm. Further comprising:

6. The extended target sighting device based on spatially sampled optical filter according to claim 1, wherein, A microscope objective; The microscope objective is arranged after the second lens on the propagation path of the second beam, and is used to improve the resolution of the second beam. Further comprising:

7. The extended target sighting device based on spatially sampled optical filter according to claim 1, wherein, A second filter; ​ The second filter is arranged in the propagation path of the second beam before the first filter, for filtering out infrared light in the second beam and retaining visible light, so that the photodetector generates more accurate control electrical signals.

8. The extended target sighting device based on spatial sampling type filter according to claim 1, characterized in that, Further comprising: a third filter; The third filter is arranged between the first lens and the CCD, for filtering out infrared light in the first beam and retaining visible light, so that the CCD generates more accurate control indicators.

9. A spatially-sampled filter based extended target aiming method, characterized in that, An extended target aiming device based on a spatial sampling type filter according to any one of claims 1-8, comprising: A laser generates laser light, and an adaptive fiber collimator is arranged in the propagation path of the laser light, disperses the laser light into a spatially collimated light beam, and emits the spatially collimated light beam to an extended target surface to obtain reflected back light; A telescope is arranged in the propagation path of the reflected back light, and the reflected back light propagates through the telescope to a beam splitter, and the optical axis direction of the telescope is coaxial with the direction of the reflected back light; The beam splitter is arranged in the propagation path of the reflected back light, and divides the reflected back light into a first beam and a second beam; A first lens is arranged in the propagation path of the first beam, focuses the first beam to a CCD, and generates control indicators required for control of a turntable; The turntable and the CCD are communicatively connected, receive the control indicators, and control the photodetector according to the control indicators, so that the focal spot on the surface of the photodetector is always stably located near the target surface of the photodetector; A second lens is arranged in the propagation path of the second beam, focuses the second beam to a first filter; The first filter is mounted on the surface of a photodetector, controls the light intensity of the focal spot on the surface of the photodetector, the photodetector converts the focal spot into an electrical signal to obtain a control electrical signal, and sends the control electrical signal to a controller; The controller receives the control electrical signal, controls the adaptive fiber collimator to adjust the irradiation angle of the spatially collimated light beam, and realizes accurate aiming of the extended target.

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