Large-view-field laser open-loop pointing method and device based on silicon-based liquid crystal array

Abstract

The invention provides a large-view-field laser open-loop pointing method and device based on a liquid crystal on silicon (LCOS) array, and the method comprises the steps: constructing the LCOS array, and enabling the total executable light beam deflection range of the LCOS array to at least cover a target observation range; dividing the target observation range into a plurality of areas according to the executable light beam deflection range of the single LCOS; determining an initial angle of emergent light of each LCOS in the LCOS array; observing to obtain a space coordinate of the moving target, and determining a corresponding LCOS of the moving target in the LCOS array according to the space coordinate as a target LCOS; angle information of the moving target relative to the target LCOS is determined according to the space coordinates of the moving target, an initial angle of emergent light of the target LCOS is determined, and two-dimensional pointing angle information of the pointing light beam is determined; and modulating the target LCOS according to the two-dimensional pointing angle information, so that the pointing light beam points to the moving target after passing through the target LCOS.

Description

Technical Field

[0001] The present application belongs to the field of laser communication technology, and in particular relates to a large-field-of-view laser open-loop pointing method and device based on a silicon-based liquid crystal array. Background Art

[0002] With the rapid development of augmented reality (AR), laser radar (LiDAR), free-space optics (FSO) and high-precision optical imaging, large-field-of-view dynamic beam pointing technology has become a core demand.

[0003] Traditional servo tracking systems use a turntable combined with electromagnetic galvanometers to achieve large-angle dynamic beam pointing. However, these systems are difficult to manage due to their size, weight, and power consumption. Liquid Crystal on Silicon (LCOS), a representative phase-type spatial light modulator, has become an important alternative in the field of beam pointing due to its advantages of no mechanical motion, high resolution, small size, and low power consumption. LCOS uses voltage to control the alignment of liquid crystal molecules, dynamically modulating the phase of the incident light wavefront, achieving non-mechanical beam deflection and focusing.

[0004] However, due to the physical limitations of LCOS devices, the deflection range of a single LCOS is insufficient to cover the pointing of moving targets under a large field of view. Existing solutions, such as expanding the pointing range by adding an angle-amplifying optical path behind the LCOS (Zheng Xinbo, Zhang Xuan, Luan Lin, et al. Research on large-angle scanning technology of light beams based on spatial light modulators [J]. Applied Optics, 2020, 41(04): 816-821.), require precise design of lens groups or reflector systems to amplify the deflection angle, resulting in a complex optical structure and a large volume. For example, in patent CN115842592A, the pointing range is expanded by cascading a liquid crystal light modulator and a liquid crystal polarization grating. However, due to the cascade method, additional optical loss is inevitably introduced, and it is not suitable for pointing to multiple targets, which has limitations. Summary of the Invention

[0005] In view of this, the present application provides a large-field-of-view laser open-loop pointing method and device based on a liquid crystal on silicon (LCOS) array, aiming to achieve pointing of moving targets and multiple moving targets under a large field of view.

[0006] In a first aspect, the present application provides a large-field-of-view laser open-loop pointing method based on a liquid crystal on silicon array, comprising: constructing an LCOS array, wherein the LCOS array is configured such that a total executable beam deflection range thereof at least covers a target observation range; Divide the target observation range into multiple areas according to the beam deflection range that can be performed by a single LCOS; Determine the initial angle of the emitted light of each LCOS in the LCOS array; The spatial coordinates of the moving target are obtained by observation, and the LCOS corresponding to the moving target in the LCOS array is determined according to the spatial coordinates as the target LCOS; Determine the angle information of the moving target relative to the target LCOS and the initial angle of the outgoing light of the target LCOS according to the spatial coordinates of the moving target, and determine the two-dimensional pointing angle information of the pointing light beam; The target LCOS is modulated according to the two-dimensional pointing angle information of the pointing light beam, so that the pointing light beam is directed to the moving target after passing through the target LCOS.

[0007] Optionally, multiple LCOSs are arranged into an LCOS array according to the target observation range and the deflection range of the light beam that can be performed by a single LCOS.

[0008] Optionally, a test beam is emitted to each LCOS center in the LCOS array, and an initial angle of the outgoing light when the test beam is irradiated to each LCOS center is determined; wherein the polarization state of the test beam is configured to be the same as the distribution direction of the liquid crystal molecules in the LCOS.

[0009] Optionally, the formula for determining the initial angle of the emitted light of each LCOS in the LCOS array includes:

[0010]

[0011] Where, Indicates that when LCOS is not modulated, the emitted light is relative to the center of LCOS. The initial angle of the axis; Indicates that when LCOS is not modulated, the emitted light is relative to the center of LCOS. The initial angle of the axis; Represents the horizontal azimuth angle of light incident on LCOS; Indicates the zenith angle of light incident on the LCOS.

[0012] Optionally, the steps of observing and obtaining the spatial coordinates of the moving target and determining the LCOS corresponding to the moving target in the LCOS array as the target LCOS according to the spatial coordinates include: Acquiring image information of a moving target through an image observation device; determining a relative physical offset of the moving target in an observation plane of the image observation device based on image information of the moving target; Utilizing the pinhole imaging principle and the relative physical offset, a first spatial coordinate of the moving target relative to the image observation device is calculated; According to the first spatial coordinates and the responsible area of ​​each LCOS in the LCOS array, the LCOS corresponding to the moving target is determined as the target LCOS.

[0013] Optionally, the step of determining the angle information of the moving target relative to the target LCOS and the initial angle of the outgoing light of the target LCOS according to the spatial coordinates of the moving target, and determining the two-dimensional pointing angle information of the pointing light beam includes: Converting the first spatial coordinate into a second spatial coordinate, where the second spatial coordinate is a spatial coordinate of the moving object relative to the target LCOS; The two-dimensional pointing angle information of the pointing light beam is determined according to the second spatial coordinate and the initial angle of the outgoing light of the target LCOS.

[0014] Optionally, the step of modulating the target LCOS according to the two-dimensional pointing angle information of the pointing light beam so that the pointing light beam points to the moving target after passing through the target LCOS includes: A phase map is generated according to the two-dimensional pointing angle information of the pointing light beam, and the phase map is loaded into the target LCOS, so that the pointing light beam points to the moving target after passing through the target LCOS.

[0015] Optionally, the large-field-of-view laser open-loop pointing method based on liquid crystal on silicon array further includes: The motion trajectory of the moving target is predicted, and a new LCOS is determined according to the motion trajectory of the moving target as a new target LCOS, so that the new target LCOS points to the moving target.

[0016] Optionally, the step of predicting a motion trajectory of a moving target, determining a new LCOS according to the motion trajectory of the moving target as a new target LCOS, and directing the new target LCOS toward the moving target includes: The Kalman filter prediction algorithm is used to predict the motion trajectory of the moving target; Determine the position of the moving target at a next moment according to the moving trajectory of the moving target, and determine the LCOS corresponding to the position of the moving target at the next moment as a new target LCOS; Determine, according to the position of the moving target, the angle information of the moving target relative to the new target LCOS and the initial angle of the outgoing light of the new target LCOS, and determine the two-dimensional pointing angle information of the pointing light beam; When the moving target moves to the overlapping intersection area, a dual-direction beam is used to pass through the new target LCOS and the original target LCOS respectively to point to the moving target, and the power of the dual-direction beam in the overlapping intersection area is dynamically adjusted according to the motion trajectory of the moving target to achieve a smooth transition of the directed beam; When the moving target leaves the overlapping intersection area, a single-pointing light beam passes through the new target LCOS and points to the moving target; Repeat the above steps to determine a new LCOS according to the moving trajectory of the moving target to achieve the direction of the moving target.

[0017] In a second aspect, a large-field-of-view open-loop laser pointing device based on a liquid crystal on silicon array is provided, comprising: A construction module, configured to construct an LCOS array, wherein the LCOS array is configured such that a total executable beam deflection range at least covers a target observation range; A division module, used for dividing a target observation range into a plurality of areas according to an executable beam deflection range of a single LCOS; A first determining module is used to determine the initial angle of the emitted light of each LCOS in the LCOS array; An observation module is used to observe and obtain the spatial coordinates of the moving target, and determine the LCOS corresponding to the moving target in the LCOS array according to the spatial coordinates as the target LCOS; a second determining module, configured to determine angle information of the moving target relative to the target LCOS and an initial angle of the outgoing light of the target LCOS according to the spatial coordinates of the moving target, and determine two-dimensional pointing angle information of the pointing light beam; The pointing module is used to modulate the target LCOS according to the two-dimensional pointing angle information of the pointing light beam, so that the pointing light beam points to the moving target after passing through the target LCOS.

[0018] The technical solution provided by this application has the following beneficial effects: 1. It adopts a distributed LCOS array topology and achieves coverage of a large field of view through regional division. It can perform parallel real-time beam pointing on one or more moving targets and supports flexible switching of targets, with high adaptability and versatility.

[0019] 2. Using a multi-source spatial coordinate fusion pointing algorithm, the pixel coordinates of one or more moving targets are accurately converted into the actual pointing angle information of the LCOS by establishing a three-level spatial mapping model, and the corresponding phase map is generated to control the beam deflection, thereby realizing an efficient laser open-loop pointing control link.

[0020] 3. A collaborative switching mechanism between multiple LCOS systems is introduced, and the Kalman filter algorithm is combined to predict the target motion trajectory, realizing early switching control of the light beam between LCOS systems, thus solving the problem of tracking interruption in multi-LCOS collaboration.

[0021] 4. The system has a modular and highly expandable structural design. The LCOS array and laser emission module can be flexibly configured according to different application requirements. It is suitable for free space optical communication, augmented reality, lidar and other fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 A schematic diagram of the structure of a large-field-of-view open-loop laser pointing device based on a liquid crystal on silicon array provided in one embodiment of the present application; Figure 2 A large-field-of-view open-loop laser pointing method based on a liquid crystal on silicon array provided in one embodiment of the present application; Figure 3 A flow chart of a large-field-of-view open-loop laser pointing method based on a liquid crystal on silicon array provided in another embodiment of the present application; Figure 4 A schematic diagram of the output light of an LCOS provided in one embodiment of the present application; Figure 5 A flow chart of a large-field-of-view open-loop laser pointing method based on a liquid crystal on silicon array provided in another embodiment of the present application; Figure 6 A schematic structural diagram of a large-field-of-view open-loop laser pointing device based on a liquid crystal on silicon array provided in another embodiment of the present application; Figure 7 This is a structural block diagram of a large-field-of-view open-loop laser pointing device based on a liquid crystal on silicon array provided in another embodiment of the present application; Figure 8 This is a structural block diagram of a pointing device provided in one embodiment of the present application.

[0024] The reference numerals are as follows: 11: Laser emission module; 12: Polarization control module; 13: LCOS array; 14: Large field of view camera module; 15: Signal processing module; 20: Large-field-of-view laser open-loop pointing device for liquid crystal on silicon array; 21: Construction module; 22: Division module; 23: First determination module; 24: Observation module; 25: Second determination module; 26: Pointing module; 30: pointing device; 31: processor; 32: memory. DETAILED DESCRIPTION

[0025] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0026] Figure 1 This is a schematic diagram of the structure of a large field of view laser open-loop pointing device based on a silicon liquid crystal array provided in one embodiment of the present application. Figure 1 ,include: The laser emission module 11 is used to emit multiple beams of incident laser light that match the LCOS response band and to inject the beams into the polarization control module.

[0027] The polarization control module 12 is used to adjust the polarization state of the laser emitted by the laser emission module to match the arrangement direction of the liquid crystal molecules in the LCOS panel.

[0028] The LCOS array 13 is used to perform beam manipulation on the incident laser beam after the polarization state is adjusted.

[0029] The large-field-of-view camera module 14 is used to collect image data of a moving target in real time and transmit the image data to the signal processing module.

[0030] The signal processing module 15 is used to process the image data output by the large field of view camera and calculate the angle at which the LCOS needs to deflect the incident laser through a pointing algorithm.

[0031] In one example, the laser emission module 11 includes multiple lasers, a fiber optic splitter, or other devices capable of emitting multiple laser beams.

[0032] In one example, the laser emitting module 11 may also include an acousto-optic modulator, an electro-optic modulator, or other devices that can modulate laser light to load information for laser communication with a target.

[0033] In one example, the polarization control module 12 includes a polarizer, a polarization controller, or other devices capable of adjusting the polarization state of the laser.

[0034] In one example, the LCOS array 13 is composed of multiple LCOS chips and their drivers, and its topology can be designed according to actual needs, such as a honeycomb arrangement, a matrix arrangement, etc.

[0035] In one example, the physical parameters of the LCOS, such as the response band and pixel size, can be selected according to actual needs.

[0036] In one example, the LCOS may be a transmissive or reflective structure.

[0037] In one example, the large field of view camera module 14 includes a calibrated camera array, a wide-angle lens camera, and other devices capable of capturing a large field of view.

[0038] In one example, the image data includes pixel coordinates and depth information of the target.

[0039] In one example, the signal processing module 15 may process the image data output by the large field of view camera module using algorithms such as the centroid method and the optical flow method to calculate the position information of the moving target.

[0040] In one example, the signal processing module 15 converts the calculated target position information into two-dimensional angle information relative to the center of the LCOS through a multi-source spatial coordinate fusion pointing algorithm, and generates a corresponding phase map. The driver in the LCOS array drives the LCOS to realize the deflection of the light beam, thereby pointing to the moving target in real time.

[0041] In one example, the signal processing module 15 predicts the trajectory of the moving target through the Kalman filter algorithm, determines in advance which area the target will move into which the LCOS is responsible for, and controls the LCOS in advance to point the light beam to the intersection area to eliminate the LCOS switching delay.

[0042] Figure 2 A large field of view laser open-loop pointing method based on a silicon liquid crystal array is provided in an embodiment of the present application. Figure 1 The device shown in FIG.

[0043] Figure 3 This is a flow chart of a large field of view laser open-loop pointing method based on a silicon liquid crystal array provided by another embodiment of the present application. Figure 3 ,include: S101 , constructing an LCOS array, wherein the LCOS array is configured such that its total executable beam deflection range at least covers a target observation range.

[0044] Among them, multiple LCOSs are arranged into an LCOS array according to the target observation range and the deflection range of the light beam that can be executed by a single LCOS.

[0045] S102 , dividing the target observation range into multiple areas according to the beam deflection range executable by a single LCOS.

[0046] Among them, according to the executable beam deflection range of a single LCOS, the observation range of the large field of view camera module is divided into N areas, where N is the number of LCOS, so that each LCOS is responsible for pointing within an area.

[0047] S103: Determine the initial angle of the emitted light of each LCOS in the LCOS array.

[0048] A test beam is emitted to each LCOS center in the LCOS array, and an initial angle of the emitted light when the test beam is irradiated to each LCOS center is determined; wherein the polarization state of the test beam is configured to be the same as the distribution direction of the liquid crystal molecules in the LCOS.

[0049] In one example, the formula for determining the initial angle of the emitted light of each LCOS in the LCOS array includes:

[0050]

[0051] Where, Indicates that when LCOS is not modulated, the emitted light is relative to the center of LCOS. The initial angle of the axis; Indicates that when LCOS is not modulated, the emitted light is relative to the center of LCOS. The initial angle of the axis; Represents the horizontal azimuth angle of light incident on LCOS; Indicates the zenith angle of light incident on the LCOS.

[0052] For details, please see Figure 4 , Figure 4 The corresponding output light along the initial pointing position is shown. 、 .

[0053] S104, observing and obtaining the spatial coordinates of the moving target, and determining the LCOS corresponding to the moving target in the LCOS array according to the spatial coordinates as the target LCOS.

[0054] In one example, step S104 includes: Step 1: Obtain image information of the moving target through an image observation device.

[0055] Exemplarily, a moving target is observed by a large field of view camera module, and image data is input into a signal processing module.

[0056] Step 2: Determine the relative physical offset of the moving target in the observation plane of the image observation device based on the image information of the moving target.

[0057] In one example, the relative physical offset By pixel coordinates of the moving target The principal point coordinates of the large field of view camera module Subtract and then multiply by the pixel size Calculated. Among them, Indicates The relative physical offset of the axes, Indicates The relative physical offset of the axes, Indicates depth.

[0058] Step 3: Using the pinhole imaging principle and the relative physical offset, calculate and obtain the first spatial coordinates of the moving target relative to the image observation device.

[0059] In one example, the first spatial coordinate The calculation formula is as follows:

[0060]

[0061]

[0062] in, Indicates the focal length of the wide field of view camera module (i.e., the observation device).

[0063] Step 4: Determine the LCOS corresponding to the moving target as the target LCOS based on the first spatial coordinates and the responsible area of ​​each LCOS in the LCOS array.

[0064] The signal processing module calculates the spatial coordinates of the target relative to the center of the large field of view camera module based on the input image data, and determines which LCOS responsible area the target is in based on the calculated spatial coordinates and the area division in step S102.

[0065] S105. Determine the angle information of the moving target relative to the target LCOS and the initial angle of the outgoing light of the target LCOS according to the spatial coordinates of the moving target, and determine the two-dimensional pointing angle information of the pointing light beam.

[0066] In one example, step S105 includes: Step 1: Convert the first spatial coordinates into second spatial coordinates, where the second spatial coordinates are the spatial coordinates of the moving target relative to the target LCOS.

[0067] In one example, step 1 includes: The first space coordinate The coordinate system is transformed into the target LCOS coordinate system through the coordinate system transformation principle to obtain the second space coordinate. The transformation formula is as follows:

[0068] Assuming that there is angular rotation and relative translation between the large field of view camera module (observation transposition) and the target LCOS, the rotation matrix between them is , the translation vector is .

[0069] Step 2: Determine the two-dimensional pointing angle information of the pointing light beam according to the second spatial coordinate and the initial angle of the outgoing light of the target LCOS.

[0070] The signal processing module calculates the angle information of the moving target relative to the center of the target LCOS according to the second spatial coordinate, and adds or subtracts the angle information from the initial angle of the target LCOS to obtain the two-dimensional pointing angle information of the pointing light beam.

[0071] In one example, the two-dimensional pointing information is calculated as follows:

[0072]

[0073] in, Indicates that the moving target is relative to the target LCOS center Angle in the direction of the axis, Indicates that the moving target is relative to the target LCOS center Angle about the axis.

[0074] See Figure 4 , which specifically shows and .

[0075] S106 . Modulate the target LCOS according to the two-dimensional pointing angle information of the pointing light beam, so that the pointing light beam points to the moving target after passing through the target LCOS.

[0076] In one example, step S106 includes: A phase map is generated according to the two-dimensional pointing angle information of the pointing light beam, and the phase map is loaded into the target LCOS, so that the pointing light beam points to the moving target after passing through the target LCOS.

[0077] Figure 5 Another embodiment of the present application provides a large field of view laser open-loop pointing method based on a silicon liquid crystal array. Figure 5 ,include: S201 , constructing an LCOS array, wherein the LCOS array is configured such that its total executable beam deflection range at least covers a target observation range.

[0078] See step S101.

[0079] S202 , dividing the target observation range into multiple areas according to the beam deflection range executable by a single LCOS.

[0080] See step S102.

[0081] S203: Determine the initial angle of the emitted light of each LCOS in the LCOS array.

[0082] See step S103.

[0083] S204: Observe and obtain the spatial coordinates of the moving target, and determine the LCOS corresponding to the moving target in the LCOS array according to the spatial coordinates as the target LCOS.

[0084] See step S104.

[0085] S205. Determine the angle information of the moving target relative to the target LCOS and the initial angle of the outgoing light of the target LCOS according to the spatial coordinates of the moving target, and determine the two-dimensional pointing angle information of the pointing light beam.

[0086] See step S105.

[0087] S206 . Modulate the target LCOS according to the two-dimensional pointing angle information of the pointing light beam, so that the pointing light beam points to the moving target after passing through the target LCOS.

[0088] See step S106.

[0089] S207: predict the motion trajectory of the moving target, and determine a new LCOS according to the motion trajectory of the moving target as a new target LCOS, so that the new target LCOS points to the moving target. In one example, step S207 includes: Step 1: Use the Kalman filter prediction algorithm to predict the motion trajectory of the moving target.

[0090] In one example, step 1 includes: The first step is to define the motion state model of the moving target.

[0091] Among them, the signal processing module establishes the motion state model of the moving target and defines the state vector ,in Indicates the three-dimensional position of the moving target in the LCOS array coordinate system, Represents the velocity component of the moving target on the corresponding coordinate axis.

[0092] Its state transfer matrix , is the time step, and the noise covariance in the process is , the measurement noise covariance is .

[0093] The second step is to correct the predicted state according to the latest measurement data of the large field of view camera module (observation device) in each sampling period to obtain the moving target at time The optimal state estimate .

[0094] The third step is based on Predicting the future Step or Status after time , and transform the predicted position into the target LCOS coordinate system, and calculate its distance to the boundary of the target LCOS sub-field of view .

[0095] The fourth step is when the target is about to enter the overlapping area. Less than the preset preload threshold When the new target LCOS phase pre-generation and pre-loading are started.

[0096] Step 2: Determine the position of the moving target at the next moment according to the moving trajectory of the moving target, and determine the LCOS corresponding to the position of the moving target at the next moment as the new target LCOS.

[0097] Step 3: According to the position of the moving target, determine the angle information of the moving target relative to the new target LCOS and the initial angle of the outgoing light of the new target LCOS, and determine the two-dimensional pointing angle information of the pointing light beam.

[0098] According to the signal processing module 104, based on the predicted target C position in the previous step, the deflection angle in the new target LCOS coordinate system is calculated according to steps S105 to S106. Calculate the phase grayscale image according to the phase image generation method and load the phase image into the new target LCOS buffer through the LCOS driver interface but do not output it yet. If the subsequent prediction changes significantly, regenerate or update the phase image.

[0099] Step 4: When the moving target moves to the overlapping intersection area, a dual-pointing light beam is used to pass through the new target LCOS and the original target LCOS respectively to point to the moving target, and the power of the dual-pointing light beam in the overlapping intersection area is dynamically adjusted according to the motion trajectory of the moving target to achieve a smooth transition of the pointing light beam.

[0100] In real-time filter updates, when the estimated position Meet the conditions for entering the overlapping intersection area (distance from the boundary ), the signal processing module sends a switching trigger command to the drivers of the original target LCOS and the new target LCOS through the hardware synchronization signal, so that both of them start output in the same synchronization time slot and start dual-beam collaborative pointing.

[0101] The overlap width is defined as When the moving target enters the overlapping area, the weight is calculated in real time according to the signal processing module. , maintain total power Constantly and dynamically adjust the beam power ratio between the original target LCOS and the new target LCOS: , , to achieve a smooth transition.

[0102] See also Figure 6 , specifically showing the overlapping intersection area.

[0103] Step 5: When the moving target leaves the overlapping intersection area, a single-pointing light beam passes through the new target LCOS and points to the moving target.

[0104] When the target leaves the overlapping area, the original target LCOS output power drops to 0, and the new target LCOS output power rises to , the switch is completed.

[0105] Step 6: Repeat the above steps to determine a new LCOS according to the moving trajectory of the moving target to achieve pointing to the moving target.

[0106] The signal processing module continues to perform Kalman filter updates and a new round of predictions on the moving target, and prepares for the next possible switch; if the moving target has completely entered the sub-field of view of another LCOS adjacent to the current target LCOS, the adjacent LCOS will be used as the new target LCOS.

[0107] Through Kalman filter prediction, phase preloading, hardware synchronous triggering and overlapping area dual-beam power gradient strategy, it is ensured that when the target crosses the LCOS sub-field of view boundary, the beam pointing is continuous, the energy transition is smooth, and there is no jitter, achieving efficient and continuous tracking.

[0108] Figure 7 A large field of view laser open-loop pointing device based on a silicon liquid crystal array is provided in one embodiment of the present application. Figure 7 The large-field-of-view laser open-loop pointing device 20 based on liquid crystal on silicon array includes: The construction module 21 is configured to construct an LCOS array, wherein the LCOS array is configured such that a total executable beam deflection range thereof at least covers a target observation range.

[0109] The dividing module 22 is used to divide the target observation range into multiple areas according to the beam deflection range executable by a single LCOS.

[0110] The first determining module 23 is configured to determine an initial angle of the emitted light of each LCOS in the LCOS array.

[0111] The observation module 24 is used to observe and obtain the spatial coordinates of the moving target, and determine the LCOS corresponding to the moving target in the LCOS array according to the spatial coordinates as the target LCOS.

[0112] The second determination module 25 is used to determine the angle information of the moving target relative to the target LCOS and the initial angle of the outgoing light of the target LCOS according to the spatial coordinates of the moving target, and determine the two-dimensional pointing angle information of the pointing light beam.

[0113] The pointing module 26 is configured to modulate the target LCOS according to the two-dimensional pointing angle information of the pointing light beam, so that the pointing light beam points to the moving target after passing through the target LCOS.

[0114] Figure 8 This is a structural block diagram of a pointing device provided in one embodiment of the present application. Figure 8 , the pointing device 30 may include Figure 7 The large-field-of-view laser open-loop pointing device 20 based on liquid crystal on silicon array. Generally, the pointing device 30 includes: a processor 31 and a memory 32.

[0115] Processor 31 may include one or more processing cores, such as a quad-core processor or an octa-core processor. Processor 31 may be implemented in hardware using at least one of the following: a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), or a PLA (Programmable Logic Array). Processor 31 may also include a main processor and a coprocessor. The main processor is used to process data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor used to process data in the standby state. Memory 32 may include one or more computer-readable storage media, which may be non-transitory. Memory 32 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in memory 32 is used to store at least one instruction, which is executed by processor 31 to implement the large-field-of-view laser open-loop pointing method based on a liquid crystal on silicon array, performed by an electronic device, as provided in the method embodiments of this application.

[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A large-field-of-view laser open-loop pointing method based on liquid crystal on silicon array, characterized in that: include: constructing an LCOS array, wherein the LCOS array is configured such that a total executable beam deflection range thereof at least covers a target observation range; Divide the target observation range into multiple areas according to the beam deflection range that can be performed by a single LCOS; Determine the initial angle of the emitted light of each LCOS in the LCOS array; The spatial coordinates of the moving target are obtained by observation, and the LCOS corresponding to the moving target in the LCOS array is determined according to the spatial coordinates as the target LCOS; Determine the angle information of the moving target relative to the target LCOS and the initial angle of the outgoing light of the target LCOS according to the spatial coordinates of the moving target, and determine the two-dimensional pointing angle information of the pointing light beam; The target LCOS is modulated according to the two-dimensional pointing angle information of the pointing light beam, so that the pointing light beam is directed to the moving target after passing through the target LCOS.

2. The large-field-of-view laser open-loop pointing method based on liquid crystal on silicon array according to claim 1, characterized in that: According to the target observation range and the deflection range of the beam that can be performed by a single LCOS, multiple LCOSs are arranged into an LCOS array.

3. The large-field-of-view laser open-loop pointing method based on liquid crystal on silicon array according to claim 1, characterized in that: A test beam is emitted to each LCOS center in the LCOS array, and an initial angle of the emitted light when the test beam is irradiated to each LCOS center is determined; wherein the polarization state of the test beam is configured to be the same as the distribution direction of the liquid crystal molecules in the LCOS.

4. The large-field-of-view laser open-loop pointing method based on liquid crystal on silicon array according to claim 3, characterized in that: The formula for determining the initial angle of the emitted light from each LCOS in the LCOS array includes: Where, Indicates that when LCOS is not modulated, the emitted light is relative to the center of LCOS. The initial angle of the axis; Indicates that when LCOS is not modulated, the emitted light is relative to the center of LCOS. The initial angle of the axis; Represents the horizontal azimuth angle of light incident on LCOS; Indicates the zenith angle of light incident on the LCOS.

5. The large-field-of-view laser open-loop pointing method based on liquid crystal on silicon array according to claim 1, characterized in that: The steps of observing and obtaining the spatial coordinates of the moving target and determining the LCOS corresponding to the moving target in the LCOS array according to the spatial coordinates as the target LCOS include: Acquiring image information of a moving target through an image observation device; determining a relative physical offset of the moving target in an observation plane of the image observation device based on image information of the moving target; Utilizing the pinhole imaging principle and the relative physical offset, a first spatial coordinate of the moving target relative to the image observation device is calculated; According to the first spatial coordinates and the responsible area of ​​each LCOS in the LCOS array, the LCOS corresponding to the moving target is determined as the target LCOS.

6. The large-field-of-view open-loop laser pointing method based on liquid crystal on silicon array according to claim 5, characterized in that: The steps of determining the angle information of the moving target relative to the target LCOS and the initial angle of the outgoing light of the target LCOS according to the spatial coordinates of the moving target, and determining the two-dimensional pointing angle information of the pointing light beam include: Converting the first spatial coordinate into a second spatial coordinate, where the second spatial coordinate is a spatial coordinate of the moving object relative to the target LCOS; The two-dimensional pointing angle information of the pointing light beam is determined according to the second spatial coordinate and the initial angle of the outgoing light of the target LCOS.

7. The large-field-of-view open-loop laser pointing method based on liquid crystal on silicon array according to claim 1, characterized in that: The step of modulating the target LCOS according to the two-dimensional pointing angle information of the pointing light beam so that the pointing light beam points to the moving target after passing through the target LCOS comprises: A phase map is generated according to the two-dimensional pointing angle information of the pointing light beam, and the phase map is loaded into the target LCOS, so that the pointing light beam points to the moving target after passing through the target LCOS.

8. The large-field-of-view open-loop laser pointing method based on liquid crystal on silicon array according to any one of claims 1 to 7, characterized in that: The large-field-of-view laser open-loop pointing method based on a liquid crystal on silicon array further includes: The motion trajectory of the moving target is predicted, and a new LCOS is determined according to the motion trajectory of the moving target as a new target LCOS, so that the new target LCOS points to the moving target.

9. The large-field-of-view laser open-loop pointing method based on liquid crystal on silicon array according to claim 8, characterized in that: The steps of predicting the motion trajectory of the moving target, determining a new LCOS according to the motion trajectory of the moving target as a new target LCOS, and directing the new target LCOS toward the moving target include: The Kalman filter prediction algorithm is used to predict the motion trajectory of the moving target; Determine the position of the moving target at a next moment according to the moving trajectory of the moving target, and determine the LCOS corresponding to the position of the moving target at the next moment as a new target LCOS; Determine, according to the position of the moving target, the angle information of the moving target relative to the new target LCOS and the initial angle of the outgoing light of the new target LCOS, and determine the two-dimensional pointing angle information of the pointing light beam; When the moving target moves to the overlapping intersection area, a dual-direction beam is used to pass through the new target LCOS and the original target LCOS respectively to point to the moving target, and the power of the dual-direction beam in the overlapping intersection area is dynamically adjusted according to the motion trajectory of the moving target to achieve a smooth transition of the directed beam; When the moving target leaves the overlapping intersection area, a single-pointing light beam passes through the new target LCOS and points to the moving target; Repeat the above steps to determine a new LCOS according to the moving trajectory of the moving target to achieve the direction of the moving target.

10. A large-field-of-view laser open-loop pointing device based on liquid crystal on silicon array, characterized in that: include: A construction module, configured to construct an LCOS array, wherein the LCOS array is configured such that a total executable beam deflection range at least covers a target observation range; A division module, used for dividing a target observation range into a plurality of areas according to an executable beam deflection range of a single LCOS; A first determining module is used to determine the initial angle of the emitted light of each LCOS in the LCOS array; An observation module is used to observe and obtain the spatial coordinates of the moving target, and determine the LCOS corresponding to the moving target in the LCOS array according to the spatial coordinates as the target LCOS; a second determining module, configured to determine angle information of the moving target relative to the target LCOS and an initial angle of the outgoing light of the target LCOS according to the spatial coordinates of the moving target, and determine two-dimensional pointing angle information of the pointing light beam; The pointing module is used to modulate the target LCOS according to the two-dimensional pointing angle information of the pointing light beam, so that the pointing light beam points to the moving target after passing through the target LCOS.

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