Airborne laser communication tracking control method

Abstract

The invention relates to the technical field of airborne air-ground laser communication, particularly provides an airborne laser communication tracking control method, and aims to solve the problem that signal light runs out of a communication view field due to an overshoot or oscillation phenomenon of the signal light corrected by an execution assembly. In order to achieve the purpose, the airborne laser communication tracking control method comprises the steps that the compensation control quantity of an execution assembly is acquired; based on the compensation control quantity, controlling a tracking differentiator to process the compensation control quantity to form a tracking signal and an approximate differential signal; based on the tracking signal and the approximate differential signal, a PID controller is controlled to calculate the actual control quantity of an execution assembly; and controlling the execution component to act based on the actual control quantity. The tracking differentiator generates a noiseless tracking signal and a noiseless differential signal in real time, and noise interference of the sensor is suppressed. The PID controller calculates the control quantity based on the smooth signal output by the tracking differentiator, and overshoot or oscillation of an execution assembly caused by direct differential noise of a traditional PID controller is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of airborne air-to-ground laser communication, and particularly provides an airborne laser communication tracking control method. BACKGROUND

[0002] In a laser communication system, the tracking part in the pointing, acquisition and tracking (PAT) function sub-module is the core technology for completing the establishment of a stable communication target by a double-end system. After both ends capture the signal light of the other party, the tracking phase is entered. In the tracking process, the signal light received by the self needs to be controlled to enter the communication field of view, and at the same time, the signal light needs to be ensured to be stable in the communication field of view at all times during the communication process, so as to maintain stable communication. The difficulty of this technology is that the speed of the unmanned aerial vehicle is relatively fast, the uncertainty of the motion trajectory is relatively strong, the directivity of the laser is very strong, and the vibration generated by the rotor of the unmanned aerial vehicle during flight and the vibration generated by the motor of the ground end turret / turntable can be transmitted to the optical structure, resulting in the jitter of the visual axis, and even causing the signal light to run out of the communication field of view, thereby affecting the stable communication of the double-end.

[0003] At present, the light spot information on the camera is generally collected, the position information of the light spot is analyzed, the control compensation amount of the execution component is determined, the execution component is actuated to correct the signal light, and the signal light is always kept in the communication field of view. In fact, due to the vibration generated by the rotor of the unmanned aerial vehicle during flight and the vibration generated by the motor of the ground end turret / turntable, the jitter of the visual axis is caused, and the signal light corrected by the execution component may have overshoot or oscillation phenomenon, resulting in the signal light running out of the communication field of view.

[0004] Correspondingly, there is a need in the art for a new technical solution to solve the above problems. SUMMARY

[0005] The present application aims to solve the above technical problems, and solve the problem that the vibration generated by the rotor of the unmanned aerial vehicle during flight and the vibration generated by the motor of the ground end turret / turntable can be transmitted to the optical structure, resulting in the jitter of the visual axis, and the signal light corrected by the execution component may have overshoot or oscillation phenomenon, resulting in the signal light running out of the communication field of view.

[0006] The present application provides an airborne laser communication tracking control method, wherein the airborne laser communication device comprises an image acquisition component, a light guide component, an execution component and an operation component; the image acquisition component is arranged to be capable of receiving laser and forming an initial image with a laser light spot; the light guide component is arranged to be capable of transmitting laser to the image acquisition component; the execution component is arranged in the light guide component, and the execution component is arranged to be capable of changing the direction of the laser so as to move the light spot to the center of the initial image; and the operation component comprises a tracking differentiator and a PID controller, and the operation component is arranged to be capable of calculating the control amount of the execution component based on the light spot information on the initial image.

[0007] The airborne laser communication tracking control method comprises: acquiring a compensation control quantity of an execution component; based on the compensation control quantity, controlling a tracking differentiator to process the compensation control quantity to form a tracking signal and an approximate differential signal; based on the tracking signal and the approximate differential signal, controlling a PID controller to calculate an actual control quantity of the execution component; and based on the actual control quantity, controlling the execution component to act.

[0008] In the technical solution, through the cooperation of the four components of image acquisition, light guiding, execution and control, the spot closed-loop control is realized, and the spot deviation caused by the vibration of the airborne platform is solved. In combination with the tracking differentiator (TD) and the PID controller, the tracking differentiator generates the noise-free tracking signal and the differential signal in real time, and the sensor noise interference is suppressed. The PID controller calculates the control quantity based on the smooth signal output by the tracking differentiator, and the overshoot or oscillation of the execution component caused by the direct differential noise of the traditional PID controller is avoided.

[0009] In the specific embodiment of the above airborne laser communication tracking control method, the structure of the tracking controller is as follows:

[0010]

[0011] In the formula, u is an intermediate control quantity; fhan is a fastest control comprehensive function, k is a discrete time index; z1(k) is a tracking signal of the compensation control quantity v(k) at the k moment; z2(k) is a differential signal of the compensation control quantity v(k) at the k moment; z1(k+h) is a tracking signal of the compensation control quantity v(k+h) at the k+h moment; z2(k+h) is a differential signal of the compensation control quantity v(k+h) at the k+h moment; r is a preset speed factor; h is a preset integral step; h0 is a preset filtering factor;

[0012] The specific formula of fhan is as follows:

[0013]

[0014] In the formula, y, d, d0, a0 and a are all pre-computations of the output quantity u, z1 in the formula is z1(k)-v(k); and z2 is z2(k).

[0015] In the technical solution, the fastest control comprehensive function fhan is used to generate the tracking signal and the differential signal: the direct differentiation of the compensation control quantity v(k) is avoided, and the problem of high-frequency noise amplification is eliminated. The input signal is quickly tracked through the nonlinear function fhan, and the dynamic response speed is improved. The speed factor r, the integral step h and the filtering factor h0 are introduced, and the control bandwidth can be flexibly adjusted according to different airborne jitter frequencies.

[0016] In the specific embodiment of the airborne laser communication tracking control method described above, the value range of r is 10 to 30, and the value range of h is 0.001 to 0.01; h0 is greater than h.

[0017] In the case of adopting the technical solution described above, the tracking speed is ensured to match the typical vibration frequency (about 10-50 Hz) of the airborne platform. h=0.001~0.01: meet the millisecond-level control cycle requirement, and avoid discretization error. h0>h: enhance the filtering effect and prevent high-frequency noise penetration. The parameter range is verified by experiments to avoid control failure caused by excessively large parameters (system oscillation) or excessively small parameters (response lag).

[0018] In the specific embodiment of the airborne laser communication tracking control method described above, the step of calculating the actual control amount of the execution component by the control PID controller further includes:

[0019]

[0020] Wherein, u(t) is the actual control amount at time t, T is the sampling period; K p represents the proportional gain, which is an adaptive parameter; K i represents the integral gain, which is also an adaptive parameter; K d represents the differential gain, which is also an adaptive parameter; e represents the error = tracking signal-compensation control amount.

[0021] In the case of adopting the technical solution described above, the error signal e comes from the tracking signal output by the TD, which is smoother than directly using the spot position signal, thereby improving the PID control precision.

[0022] In the specific embodiment of the airborne laser communication tracking control method described above, the value range of K p is 4-5.5; the value range of K i is 2-3.5; the value range of K d is 3-4.5, and the value of T is the same as that of h.

[0023] In the specific embodiment of the airborne laser communication tracking control method described above, before the step of obtaining the compensation control amount of the control system, the method further includes:

[0024] Obtaining an initial image with a laser spot;

[0025] Calculating the spot position coordinates on the initial image;

[0026] Based on the spot position coordinates, calculating the miss distance angle;

[0027] Based on the miss distance angle, calculating the compensation control amount of the execution component.

[0028] In the technical scheme, the control quantity is calculated based on the off-target angle instead of pixel coordinates, and the installation error of the image acquisition component is eliminated.

[0029] In the embodiment of the method, the step of calculating the spot position coordinates on the initial image further includes:

[0030] The top-left corner of the initial image is set as the coordinate origin, the horizontal right direction is positive X-axis, and the vertical downward direction is positive Y-axis, and a first coordinate system is established.

[0031] The spot position coordinates are calculated according to the centroid algorithm.

[0032] In the technical scheme, the centroid algorithm calculates the geometric center of the spot, and is more resistant to uneven light source interference than the peak value detection method.

[0033] In the embodiment of the method, the step of calculating the off-target angle based on the spot position coordinates further includes:

[0034] The center of the initial image is set as the coordinate origin, the horizontal right direction is positive X-axis, and the vertical upward direction is positive Y-axis, a second coordinate system is established, and a second coordinate of the spot position is obtained.

[0035] The off-target distance of the spot is calculated based on the second coordinate of the spot position.

[0036] The off-target angle is calculated based on the off-target distance of the spot, the pixel information of the camera, and the focal length.

[0037] In the technical scheme, the pixel size and the focal length are combined to improve the universality of the scheme.

[0038] In the embodiment of the method, the image acquisition component is a CCD camera.

[0039] In the technical scheme, the CCD camera can clearly capture the laser spot in a weak light environment, and the reliability of a low signal-to-noise ratio scene is improved.

[0040] In the embodiment of the method, the execution component is a fast mirror.

[0041] In the technical scheme, the fast mirror can realize millisecond-level micro-correction of high-frequency jitter. BRIEF DESCRIPTION OF DRAWINGS

[0042] The preferred embodiments of the present application will be described below with reference to the accompanying drawings.

[0043] Figure 1 is a schematic diagram of main steps of the airborne laser communication tracking control method;

[0044] Figure 2 is a flow chart before the S101 step of the airborne laser communication tracking control method. DETAILED DESCRIPTION

[0045] The preferred embodiments of the present application will be described below with reference to the accompanying drawings. It should be understood by those skilled in the art that the embodiments are only used to explain the technical principles of the present application, and are not used to limit the protection scope of the present application. Those skilled in the art can make adjustments to them as needed in order to adapt to specific application occasions.

[0046] It should be noted that in the description of the present application, unless otherwise explicitly specified and limited, the terms "set", "connected", and the like should be understood in a broad sense, for example, "connected" can be fixedly connected, or detachably connected or integrally connected; can be mechanically connected, or other connected; can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0047] To solve the problem that the vibration generated by the rotor during the flight of the existing unmanned aerial vehicle and the vibration generated by the ground end rotating tower / turntable motor can be transmitted to the optical structure, resulting in the jitter of the visual axis, the signal light after the correction of the execution assembly appears overshoot or oscillation phenomenon, and the signal light runs out of the communication field of view, the present application provides an airborne laser communication tracking control method, and the airborne laser communication device comprises an image acquisition assembly, a light guide assembly, an execution assembly and an operation assembly; the image acquisition assembly is arranged to be capable of receiving laser and forming an initial image with a laser spot; the light guide assembly is arranged to be capable of transmitting laser to the image acquisition assembly; the execution assembly is arranged in the light guide assembly, and the execution assembly is arranged to be capable of changing the direction of the laser, so that the spot moves to the center of the initial image; the operation assembly comprises a tracking differentiator and a PID controller, and the operation assembly is arranged to be capable of calculating the control amount of the execution assembly based on the spot information on the initial image.

[0048] The airborne laser communication tracking control method comprises: acquiring a compensation control amount of an execution component; based on the compensation control amount, controlling a tracking differentiator to process the compensation control amount to form a tracking signal and an approximate differential signal; based on the tracking signal and the approximate differential signal, controlling a PID controller to calculate an actual control amount of the execution component; and based on the actual control amount, controlling the execution component to act. In this way, through the cooperation of the image acquisition, light guide, execution and control components, the spot closed-loop control is realized, and the spot deviation problem caused by the vibration of the airborne platform is solved. In combination with the tracking differentiator (TD) and the PID controller, the tracking differentiator generates the noise-free tracking signal and the differential signal in real time, and the sensor noise interference is suppressed. The PID controller calculates the control amount based on the smooth signal output by the tracking differentiator, and avoids the overshoot or oscillation of the execution component caused by the direct differential noise of the traditional PID controller.

[0049] In one or more embodiments, the airborne laser communication device comprises an image acquisition component, a light guide component, an execution component and an operation component. The image acquisition component is configured to receive laser and form an initial image with a laser spot. The image acquisition module adopts a CCD camera. Of course, the image acquisition module can also be a high frequency CMOS camera, as long as it can receive laser and form an initial image with a laser spot. The light guide component is configured to guide the laser to the image acquisition component. The light guide component mainly comprises a laser beam shaping and expanding component, a secondary imaging component, a two-dimensional angle precision servo component, a double (multi) color light splitting plate, a narrowband filter, a light path turning mirror, etc. Through the above structure, the laser can be processed to facilitate the emission and reception of the laser. The specific structure of the light guide component is a prior art, which will not be described here. The light guide component can also be composed of other structural components, as long as it can process the received laser to form a spot that can be acquired by the image acquisition module. In one or more embodiments, the execution component is a fast mirror, which is arranged in the light guide component. The fast mirror is configured to change the direction of the laser to move the spot to the center of the initial image. The fast mirror can realize millisecond-level micro-correction of high-frequency jitter. Of course, the execution component can also be an adaptive deformable mirror or a voice coil driven mirror. In one or more embodiments, the operation component comprises a tracking differentiator and a PID controller, and the operation component is configured to calculate the control amount of the execution component based on the spot information on the initial image.

[0050] The present invention also discloses an airborne laser communication tracking control method, which is based on the above-mentioned airborne laser communication tracking device, and the method includes: obtaining the compensation control quantity of the execution component. Based on the compensation control quantity, the tracking differentiator is controlled to process the compensation control quantity to form a tracking signal and an approximate differential signal. Based on the tracking signal and the approximate differential signal, the PID controller is controlled to calculate the actual control quantity of the execution component. Based on the actual control quantity, the action of the execution component is controlled. Since the vibration generated by the rotor during the flight of the UAV and the vibration generated by the turret / turntable motor on the ground end will be transmitted to the optical structure, the execution component is corrected according to the control compensation quantity, and the signal light will overshoot or oscillate, causing the signal light to run out of the communication field of view. Therefore, the control compensation quantity is adjusted by controlling the tracking differentiator and the PID controller, and the actual control quantity is output to prevent the signal light from running out of the communication field of view.

[0051] like Figure 1 As shown, in one or more implementations, S101 obtains the compensation control amount of the execution component.

[0052] S102 controls the tracking differentiator to process the compensation control amount based on the compensation control amount to form a tracking signal and an approximate differential signal.

[0053] S103 controls the PID controller to calculate the actual control amount of the execution component based on the tracking signal and the approximate differential signal.

[0054] S104 controls the execution component actions based on the actual control amount.

[0055] like Figure 2 As shown, in one or more implementation manners, before step S101, the method further includes:

[0056] S201 acquires an initial image with a laser spot. Specifically, a CCD camera faces the signal light so that the signal light enters the CCD camera and forms a spot in the image of the CCD camera. The image with the laser spot is the initial image.

[0057] S202 calculates the coordinates of the light spot position on the initial image. Specifically, the upper left corner of the initial image is set as the coordinate origin, the horizontal right direction is the positive X axis, and the vertical downward direction is the positive Y axis to establish a first coordinate system; the coordinates of the light spot position are calculated according to the centroid algorithm.

[0058] S203 calculates the miss distance angle based on the spot position coordinates. Specifically, taking the initial image center as the coordinate origin, the horizontal right direction as the positive X-axis, and the vertical upward direction as the positive Y-axis, a second coordinate system is established to obtain the spot position second coordinates. Based on the spot position second coordinates, the spot miss distance is calculated. It should be noted that the miss distance is the distance of the spot position second coordinates from the origin of the second coordinate system. Specifically, the way to solve the distance according to the coordinates is a prior art, which will not be described here. Based on the spot miss distance, the pixel information and the focal length of the camera, the miss distance angle is calculated. Specifically, The pixel information and the focal length of the camera are the firmware information of the camera.

[0059] S204 calculates the compensation control amount of the execution component based on the miss distance angle.

[0060] In one or more embodiments, the structure of the tracking controller is as follows:

[0061]

[0062] wherein u is the intermediate control amount; fhan() is the fastest control synthesis function, k is the discrete time index; v(k) is the compensation control amount at time k; z1(k) is the tracking signal of the compensation control amount v(k) at time k; z2(k) is the differential signal of the compensation control amount v(k) at time k; z1(k+h) is the tracking signal of the compensation control amount v(k+h) at time k+h; z2(k+h) is the differential signal of the compensation control amount v(k+h) at time k+h; r is a preset speed factor; h is a preset integral step; h0 is a preset filtering factor. The value range of r is 10 to 30, and r is preferably 20, but r can also be 18, 19, 25, etc. The value range of h is 0.001 seconds to 0.01 seconds, and h is preferably 0.008 seconds, but h can also be 0.003 seconds, 0.005 seconds, etc. h0 is greater than h.

[0063] The specific formula of fhan() is as follows:

[0064]

[0065] wherein y, d, d0, a0 and a are all pre-computed for the output u. It should be noted that z1 in the formula is z1(k)-v(k); and z2 is z2(k).

[0066] It should be noted that z1(k) and z2(k) in the formula are state variables at the current time. In the entire recursive formula, the u output by the fhan function is used to update the state at the next time.

[0067] It should be noted that initial values need to be set before the continuous calculation starts. The initial state is set, u is v(k), zl(k) = u, z2(k) = 0. Then zl(k+h) and z2(k+h) can be calculated through formula (1). Substitute zl(k+h), z2(k+h) and v(k+h) into the fhan() function, and the u corresponding to k+h can be obtained by calculation. Through the u corresponding to k+h and formula (1), zl(k+2h) and z2(k+2h) can be obtained, and so on, so that the tracking signal and the differential signal corresponding to the time can be obtained. 12 (k+h) and v(k+h) into the fhan() function, and the u corresponding to k+h can be obtained by calculation. Through the u corresponding to k+h and formula (1), zl(k+2h) and z2(k+2h) can be obtained, and so on, so that the tracking signal and the differential signal corresponding to the time can be obtained.

[0068] In one or more embodiments, the step of controlling the PID controller to calculate the actual control amount of the execution component further comprises:

[0069]

[0070] Wherein, u(k) is the actual control amount at k time; T is the sampling period; K p represents the proportional gain, which is an adaptive parameter; K i represents the integral gain, which is also an adaptive parameter; K d represents the differential gain, which is also an adaptive parameter; e represents the error = tracking signal - compensation control amount.

[0071] Specifically, the value range of K p is 4-5.5, preferably K p = 4.8134. Of course, K p may also be 4.9, 5.1, etc.; the value range of K i is 2-3.5, preferably K i = 2.875. Of course, K i may also be 2.6, 3.1, etc. The value range of K d is 3-4.5, preferably K d = 3.584, and of course K d may also be 3.4, 4.2, etc. The value of T is the same as h. It should be noted that K p , K i , K dThe value of e can be selected according to the need of the person skilled in the art. e represents error = tracking signal - compensation control amount, in continuous operation, the tracking signal is z1(k+h) calculated by formula (1), and the corresponding compensation control amount is also the compensation control amount at k+h. The PID controller includes three links: proportional link, integral link and differential link. The proportional link is to react to the deviation signal e(t) of the control system in proportion. Once the system has a deviation, the proportional adjustment of the controller immediately produces an effect to reduce the deviation. The integral link is mainly used to eliminate the steady-state error (static error) of the system. When the system has an error, the integral action of the controller will be performed until the error disappears, and the integral adjustment stops. The differential adjustment has predictability, which can predict the trend of deviation and make corresponding action, and introduce effective early correction signal before the deviation signal becomes large, produce advanced control effect, speed up the response time of the system and improve the dynamic characteristics of the system.

[0072] In the case of using different control algorithms, the two algorithms are compared by experiment, one of which is the algorithm in the application, which adds tracking differentiator filtering and then performs PID algorithm control output, and the other of which only uses PID algorithm to control output. Both of them are given the same input and the same noise interference, and the error value between the actual output and the expected output of the two is determined. When the tracking differentiator filtering is added, the control error is smaller than that of the single PID control, and the results are introduced into the data processing software for calculation. The control accuracy of PID+TD is 0.00024±0.05, and the control accuracy of single PID is 0.00044±0.055. Therefore, the control accuracy of the TD+PID control algorithm is better than that of the single PID control algorithm, and the suppression effect of external vibration interference is obvious.

[0073] It should be noted that although the steps in the above embodiments are described in a specific order, those skilled in the art can understand that, in order to achieve the effect of the present application, the different steps do not have to be executed in such an order, they can be executed simultaneously (in parallel) or in other orders, and these adjusted schemes are equivalent to the technical schemes described in the present application, and therefore will also fall within the protection scope of the present application.

[0074] Those skilled in the art can understand that although some embodiments herein include certain features included in other embodiments rather than other features, the combination of features of different embodiments means to be within the scope of the present application and form different embodiments. For example, in the claims of the present application, any one of the claimed embodiments can be used in any combination.

[0075] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. An airborne laser communication tracking control method, characterized in that: The airborne laser communication device includes an image acquisition component, a light guide component, an execution component, and a calculation component; the image acquisition component is configured to receive laser light and form an initial image with a laser spot; the light guide component is configured to transmit laser light to the image acquisition component; the execution component is disposed within the light guide component and is configured to change the direction of the laser light so that the spot moves to the center of the initial image; the calculation component includes a tracking differentiator and a PID controller, and is configured to calculate a control variable of the execution component based on the spot information on the initial image; The airborne laser communication tracking control method comprises: Obtain the compensation control amount of the execution component; Based on the compensation control amount, controlling the tracking differentiator to process the compensation control amount to form a tracking signal and an approximate differential signal; Based on the tracking signal and the approximate differential signal, controlling the PID controller to calculate the actual control amount of the execution component; Based on the actual control amount, the action of the execution component is controlled.

2. The airborne laser communication tracking control method according to claim 1, characterized in that: The structure of the tracking controller is as follows: Wherein, u is the intermediate control variable; fhan() is the fastest control synthesis function, k is the discrete time index; v(k) is the compensation control variable at time k; z1(k) is the tracking signal of the compensation control variable v(k) at time k; z2(k) is the differential signal of the compensation control variable v(k) at time k; z1(k+h) is the tracking signal of the compensation control variable v(k+h) at time k+h; z2(k+h) is the differential signal of the compensation control variable v(k+h) at time k+h; r is the preset speed factor; h is the preset integration step; h0 is the preset filter factor; The specific formula of fhan() is as follows: Among them, y, d, d0, a0 and a are all pre-calculation of the output quantity u, z1 is z1(k)-v(k), and z2 is z2(k).

3. The airborne laser communication tracking control method according to claim 2, characterized in that: The value range of r is 10 to 30, the value range of h is 0.001-0.01; h0 is greater than h.

4. The airborne laser communication tracking control method according to claim 3, characterized in that: The step of controlling the PID controller to calculate the actual control amount of the execution component further includes: Among them, u(k) is the actual control quantity at time k, T is the sampling period; K p Represents the proportional gain, which is an adjustment parameter; K i Represents the integral gain, which is also the adjustment parameter; K d represents the differential gain, which is also the adjustment parameter; e represents the error = tracking signal - compensation control amount.

5. The airborne laser communication tracking control method according to claim 4, characterized in that: The K p The value range of K is 4-5.5; i The value range of K is 2-3.5; d The value range of is 3-4.5, and the value of T is the same as that of h.

6. The airborne laser communication tracking control method according to claim 1, characterized in that: Before the step of obtaining the compensation control amount of the control system, the method further includes: Acquire an initial image with a laser spot; Calculating the light spot position coordinates on the initial image; Calculating the miss angle based on the light spot position coordinates; Based on the miss angle, a compensation control amount of the actuator is calculated.

7. The airborne laser communication tracking control method according to claim 6, characterized in that: The step of calculating the light spot position coordinates on the initial image further includes: The upper left corner of the initial image is set as the coordinate origin, the horizontal right direction is the positive X axis, and the vertical downward direction is the positive Y axis, to establish a first coordinate system; The coordinates of the light spot position are calculated based on the centroid algorithm.

8. The airborne laser communication tracking control method according to claim 7, characterized in that: Based on the light spot position coordinates, the step of calculating the miss angle further includes: With the center of the initial image as the coordinate origin, the horizontal right direction as the positive X axis, and the vertical upward direction as the positive Y axis, a second coordinate system is established to obtain the second coordinate of the light spot position; Calculating the spot miss distance based on the second coordinate of the spot position; The miss angle is calculated based on the light spot miss distance, pixel information and focal length of the camera.

9. The airborne laser communication tracking control method according to claim 1, characterized in that: The image acquisition component is a CCD camera.

10. The airborne laser communication tracking control method according to claim 1, characterized in that: The execution component is a fast reflex mirror.

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