Double-shaft rotating target test system and method for ATP tracking and pointing performance test

Abstract

The invention discloses a double-shaft rotating target test system and method for an ATP tracking and pointing performance test, and relates to a high-power laser beam performance measurement technology, and the system comprises a supporting frame which provides an installation foundation; the first rotating arm is installed on the supporting frame based on a first rotating shaft, a first light pipe and a first reflecting mirror are arranged at the two ends of the first rotating arm respectively, and laser emitted by the first light pipe is reflected to a first tracking view field lens of the ATP to be detected through the first reflecting mirror; the second rotating arm is installed on the first rotating arm based on a second rotating shaft, a second light pipe and a second reflecting mirror are arranged at the two ends of the second rotating arm respectively, and laser emitted by the second light pipe is reflected to a second tracking view field lens of the ATP to be detected through the second reflecting mirror. According to the embodiment of the invention, a double-shaft rotating target structure is provided, a more complex target movement track can be simulated through linkage of the double rotating shafts, and the simulation effect on an ATP system is close to an actual application scene.

Description

Technical Field

[0001] This application relates to the field of high-power laser beam performance measurement technology, and in particular to a dual-axis rotating target testing system and method for ATP tracking performance testing. Background Technology

[0002] Lasers possess characteristics such as directionality, monochromaticity, high brightness, and spatial and temporal coherence, and their energy can be effectively transmitted over long distances, thus showing great promise for applications in industry and defense. Measuring the spatiotemporal distribution of high-energy laser far-field intensity is an effective means of directly obtaining important spot parameters of high-energy laser systems, such as aiming accuracy, tracking accuracy, and centroid drift, and serves as the technical basis for analyzing and evaluating the performance of high-energy laser systems. With the continuous development of high-energy laser technology, there is an urgent need to establish corresponding testing and evaluation systems, conduct high-energy laser tracking performance experiments, and solve related technical challenges of high-energy laser systems.

[0003] However, there is currently no unified understanding or mature technology for the quantitative measurement of high-energy laser tracking performance, nor are there corresponding national metrological standards. There is also a lack of standard light sources that can effectively calibrate the measurement system. Measurement systems used for aerial targets require strong environmental adaptability, especially since the characteristics of mid-infrared detectors are particularly sensitive to changes in ambient temperature. This poses a significant technical challenge for the high-precision quantitative measurement of high-energy laser power density. The evaluation of tracking performance parameters is closely related to factors such as the performance indicators of the measurement system and atmospheric parameters. Providing a high-confidence quantitative evaluation is a technical challenge. Furthermore, the high cost of developing the flight platform (UAV) and target spot detector required for the experiment, the difficulty in coordinating and ensuring the flight airspace, and the complexity of organizing and coordinating the testing work are also challenges faced by traditional testing methods for the tracking performance of high-energy laser systems. Summary of the Invention

[0004] This application provides a dual-axis rotating target testing system and method for ATP tracking performance testing, enabling the testing of ATP tracking performance under indoor conditions.

[0005] This application provides a dual-axis rotating target testing system for ATP tracking performance testing, comprising: Support frame 1 provides the mounting base; The first rotating arm 2 is mounted on the support frame 1 based on the first rotating shaft 3. The two ends of the first rotating arm 2 are respectively provided with a first light tube 21 and a first reflector 22. The laser emitted by the first light tube 21 is reflected by the first reflector 22 to the first tracking field lens of the ATP being measured. The second rotating arm 4 is mounted on the first rotating arm 2 based on the second rotating shaft 5. The two ends of the second rotating arm 4 are respectively provided with a second light tube 41 and a second reflector 42. The laser emitted by the second light tube 41 is reflected by the second reflector 42 to the second tracking field lens of the ATP being measured.

[0006] This application provides a dual-axis rotating target testing method for ATP tracking performance testing, implemented based on the aforementioned dual-axis rotating target testing system for ATP tracking performance testing, including: According to the technical parameters of the ATP being tested, the position of the second reflector 42 is adjusted to adjust the laser spacing after reflection by the first reflector 22 and the second reflector 42, and the first rotation axis 3 and the second rotation axis 5 of the dual-axis rotating target are adjusted to coincide with the coarse tracking and fine tracking lines of the ATP being tested, respectively. The first rotating arm 2 and the second rotating arm 4 are controlled to start rotating at the set target rotation speed respectively. The ATP being tested is captured, tracked and aimed at the collimated beam emitted by the first light tube 21 and the second light tube 41 through the coarse follower lens and the fine follower lens respectively. Based on the data metrics obtained from tracking and targeting, data processing is performed to complete the test.

[0007] This application proposes a dual-axis rotating target structure. Through the linkage of the two rotating axes, a simulated target can be provided to both the coarse and fine tracking cameras of the ATP system. This allows for the acquisition of parameters such as the tracking accuracy and aiming deviation of the tested ATP system under certain angular velocity and angular acceleration conditions of the simulated target (dual-axis rotating target). This structure can simulate more complex target motion trajectories and provides a simulation effect of the ATP system that closely matches actual application scenarios.

[0008] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0009] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of the structure of the dual-axis rotating target testing system for ATP tracking performance testing according to an embodiment of this application; Figure 2 Example of positional relationship of a dual-axis rotating target testing system for ATP tracking performance testing, which serves as an application example of this application; Figure 3 The azimuth angular velocity ω is used as an example of application in this application. A Pitch angular velocity ω E Relationship with time t; Figure 4 The azimuth acceleration a, which is an example of the application of this application, A Pitch acceleration a E The relationship with time t. Detailed Implementation

[0010] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0011] The acquisition, tracking, and aiming subsystem of a high-energy laser system, also known as the ATP (Acquisition Tracking Pointing) system, is a key component of the system. Its main function is to rapidly acquire, precisely track, and aim at moving targets, ultimately emitting and focusing a high-energy laser beam onto the target. Therefore, tracking performance is a core performance indicator. Traditional testing methods utilize a flight platform (high-speed UAV) and its onboard target spotter: the high-energy laser system emits a laser beam towards the target spotter, which measures the laser spot in real time; simultaneously, a ranging system measures or calculates the target distance (the distance between the high-energy laser system and the target spotter) in real time. Finally, the aiming accuracy is calculated through the processing of the acquired data. It can be seen that the traditional tracking performance testing method requires a high-speed UAV and target spotter, which are very expensive and must be conducted in the field, making the organization, implementation, and coordination of the experiment extremely inconvenient.

[0012] This application provides a dual-axis rotating target testing system for ATP tracking performance testing, such as... Figure 1 As shown, it includes: Support frame 1 provides the mounting base; A first rotating arm 2, mounted on the support frame 1 based on a first rotating shaft 3, has a first optical tube 21 and a first reflector 22 at each end. The laser emitted from the first optical tube 21 is reflected by the first reflector 22 to the first tracking field-of-view lens of the ATP being measured. In a specific example, the first optical tube 21 emits a collimated laser of a specified wavelength and aperture. After being reflected by the first reflector 22, the collimated laser enters the coarse tracking field-of-view lens of the ATP being measured. In a specific example, the first reflector 22 is installed inside the hollow shaft of the first rotating shaft 3, allowing the ATP coarse tracking lens to capture, track, and aim the incident laser.

[0013] The second rotating arm 4 is mounted on the first rotating arm 2 based on the second rotating shaft 5. A second optical tube 41 and a second reflector 42 are respectively provided at both ends of the second rotating arm 4. The laser emitted by the second optical tube 41 is reflected by the second reflector 42 to the second tracking field-of-view lens of the ATP being measured. In a specific example, the second optical tube 41 emits a collimated laser of a specified wavelength and aperture. After being reflected by the second reflector 42, the collimated laser enters the fine tracking field-of-view lens of the ATP being measured, where the ATP fine tracking lens captures, tracks, and aims the incident laser.

[0014] In some embodiments, the first tracking field of view lens is a fine tracking field of view lens, and the second tracking field of view lens is a coarse tracking field of view lens.

[0015] In some embodiments, the second rotating shaft 5 is disposed at one end of the first reflector 22 of the first rotating arm 2.

[0016] In the system of this application embodiment, the first rotating arm 2 rotates around the first rotating axis 3, and the second rotating arm 4 rotates around the second rotating axis 5. The first rotating arm 2 and the second rotating arm 4 are controlled by the control box to rotate at a certain angular velocity. The ATP being tested simultaneously tracks and aims the collimated laser emitted by the first light tube 21 and the second light tube 41, and completes the testing of parameters such as tracking accuracy and aiming deviation.

[0017] Based on the distance between the coarse tracking field lens and the fine tracking field lens of the ATP being tested, the distance between the collimated lasers emitted by the first light tube 21 and the second reflector 42 after reflection can be adjusted by adjusting the position of the second reflector 42, thereby meeting the testing requirements of different ATPs being tested.

[0018] This application proposes a dual-axis rotating target structure. Through the linkage of the two rotating axes, it can simultaneously provide a simulated target to the coarse tracking camera and the fine tracking camera of the ATP system. This allows for the acquisition of parameters such as the tracking accuracy and aiming deviation of the tested ATP system under certain angular velocity and angular acceleration conditions of the simulated target (dual-axis rotating target). This structure can simulate more complex target motion trajectories and the simulation effect of the ATP system is close to the actual application scenario.

[0019] Compared to existing single-axis rotating targets, dual-axis rotating targets offer two advantages: First, they allow for adjustment of angular velocity and angular acceleration at close range (approximately 1-2 meters from the ATP being tested), meeting the needs of different testing conditions. Second, they can simultaneously provide a simulated target to both the coarse and fine tracking cameras of the ATP being tested, satisfying the requirements of the tested ATP. The simulated target's trajectory is controllable, and precise trajectory coordinates can be calculated, facilitating the analysis of the ATP's tracking accuracy. This overcomes the limitation of single-axis rotating targets, which produce a single target trajectory and cannot simultaneously provide a simulated target to both the coarse and fine tracking cameras of the ATP at close range.

[0020] This application also proposes a dual-axis rotating target testing method for ATP tracking performance testing, implemented based on the aforementioned dual-axis rotating target testing system for ATP tracking performance testing, including: According to the technical parameters of the ATP being tested, the position of the second reflector 42 is adjusted to adjust the laser spacing after reflection by the first reflector 22 and the second reflector 42, and the first rotation axis 3 and the second rotation axis 5 of the dual-axis rotating target are adjusted to coincide with the coarse tracking and fine tracking lines of the ATP being tested, respectively. The first rotating arm 2 and the second rotating arm 4 are controlled to start rotating at the set target rotation speed. The ATP being tested is captured, tracked and aimed at the collimated beam emitted by the first light tube 21 and the second light tube 41 through the coarse-tracking lens and the fine-tracking lens, respectively. In some embodiments, after the first rotating arm 2 and the second rotating arm 4 start rotating, the measurement of the required data indicators begins after the first rotating arm 2 and the second rotating arm 4 reach the rated rotation speed.

[0021] Based on the data metrics obtained from tracking and targeting, data processing is performed to complete the test.

[0022] In some embodiments, data processing based on the data metrics acquired from tracking targets includes: The relationship between the angle θ of the coarse tracking indicator laser of the dual-axis rotating target rotating around the axis and the azimuth angle A and elevation angle E, calculated according to the sine and cosine formulas for spherical triangles, is as follows: Where b is the angle between the rotation axis and the horizontal plane, a is the semi-cone angle formed by the rotation axis and the incident ATP indicator light, and θ is the angle of rotation of the first rotation axis. , Let t be the angular velocity of the first rotating axis and t be the rotation time.

[0023] based on , Taking the first derivative with respect to time yields the azimuth angular velocity of the simulated target in the coarse tracking field of view. and pitch angular velocity ; based on , Taking the second derivative with respect to time yields the simulated target azimuth acceleration in the coarse tracking field of view. and pitch acceleration .

[0024] In some implementations, data processing based on the data metrics obtained from tracking and targeting also includes: The relationship between the angle θ of the dual-axis rotating target precision tracking indicator laser's rotation around the axis and the azimuth angle A and elevation angle E is calculated as follows: Where R1 is the radius of rotation of the first axis of rotation, and R2 is the radius of rotation of the second axis of rotation. Let t be the angular velocity of the second rotating axis and t be the rotation time.

[0025] based on , Taking the first derivative with respect to time yields the azimuth angular velocity of the simulated target in the fine-tracking field of view. and pitch angular velocity ; based on , Taking the second derivative with respect to time yields the azimuth acceleration of the simulated target in the fine-tracking field of view. and pitch acceleration .

[0026] Combining equations (1) to (4), the tracking accuracy and aiming deviation of the tested ATP system under certain angular velocity and angular acceleration conditions of the simulated target (dual-axis rotating target) can be obtained. The test results of tracking accuracy and aiming deviation are calculated from the miss distance data measured by the ATP precision tracking camera.

[0027] After the system is completed, the values ​​of R1, a, and b are generally fixed. By adjusting the values ​​of ω1, ω2, and R2, combined with equations (1) to (4) or feedback from the output image of the ATP being tested, in some embodiments, the range of angular velocity and angular acceleration can be adjusted to meet different test conditions.

[0028] The method proposed in this application can greatly reduce the complexity of the testing process and make the organization and implementation more convenient; in addition, the work can be carried out indoors, so it is not affected by outdoor weather and the test cycle is controllable.

[0029] This application also provides implementation examples of a dual-axis rotating target testing method for ATP tracking performance testing, such as... Figure 1 , Figure 2 As shown, in this example, the test system is placed at a certain distance (1-2 meters) from the ATP being tested. The optical tubes 1 and 2 of the dual-axis rotating target test system emit collimated lasers to the ATP being tested.

[0030] In this example, the target rotation half-cone angle is a = 24°, the target rotation axis makes an angle of b = 25° with the horizontal ground, the rotational speed of the rotating target (arm 1) is 33° / s, the rotational speed of the rotating target (arm 2) is -33° / s, the arm length of the rotating target (arm 1) is R1 = 0.5m, and the arm length of the rotating target (arm 2) is R2 = 0.2m. From Figure 3 , Figure 4 The data shows that the maximum azimuth velocity at this time is 20.5° / s, and the maximum azimuth acceleration is 10.2° / s². 2 It can simulate a target angular velocity of ≥20° / s and an angular acceleration of ≥10° / s². 2 The test conditions are as follows: under these conditions, the coarse tracking field-of-view camera and the fine tracking field-of-view camera of the ATP being tested are used for capture, tracking and aiming respectively.

[0031] By adjusting the values ​​of ω1, ω2, and R2, and combining equations (1) to (4) or feedback from the output image of the tested ATP, the different angular velocities and angular accelerations of the dual-axis rotating target simulation target can be adjusted to meet different test conditions, realize more complex target motion trajectory simulation, and be closer to the actual application scenario of the tested ATP system.

[0032] It should be noted that, in the embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0033] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0034] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0035] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims. All of these forms are within the protection scope of this application.

Claims

1. A dual-axis rotating target testing system for ATP tracking performance testing, characterized in that, include: Support frame (1) provides the mounting base; The first rotating arm (2) is mounted on the support frame (1) based on the first rotating shaft (3). The two ends of the first rotating arm (2) are respectively provided with a first light tube (21) and a first reflector (22). The laser emitted by the first light tube (21) is reflected by the first reflector (22) to the first tracking field lens of the ATP being tested. The second rotating arm (4) is mounted on the first rotating arm (2) based on the second rotating shaft (5). The two ends of the second rotating arm (4) are respectively provided with a second light tube (41) and a second reflector (42). The laser emitted by the second light tube (41) is reflected by the second reflector (42) to the second tracking field lens of the ATP being measured.

2. The dual-axis rotating target testing system for ATP tracking performance testing as described in claim 1, characterized in that, The first tracking field of view lens is a fine tracking field of view lens, and the second tracking field of view lens is a coarse tracking field of view lens.

3. The dual-axis rotating target testing system for ATP tracking performance testing as described in claim 1, characterized in that, The second rotating shaft (5) is located at one end of the first reflector (22) of the first rotating arm (2).

4. A method for testing the performance of ATP tracking targets using a dual-axis rotating target, characterized in that, The dual-axis rotating target testing system based on the ATP tracking performance testing as described in any one of claims 1-3 includes: According to the technical parameters of the ATP being tested, the position of the second reflector (42) is adjusted to adjust the laser spacing after reflection by the first reflector (22) and the second reflector (42), and the first rotation axis (3) and the second rotation axis (5) of the dual-axis rotating target are adjusted to coincide with the coarse tracking and fine tracking line of the ATP being tested, respectively. The first rotating arm (2) and the second rotating arm (4) are controlled to start rotating at the set target rotation speed respectively. The ATP being tested is captured, tracked and aimed at the collimated beam emitted by the first light tube (21) and the second light tube (41) through the coarse follower lens and the fine follower lens respectively. Based on the data metrics obtained from tracking and targeting, data processing is performed to complete the test.

5. The dual-axis rotating target testing method for ATP tracking performance testing as described in claim 4, characterized in that, After the first rotating arm (2) and the second rotating arm (4) start to rotate, the required data indicators are measured after the first rotating arm (2) and the second rotating arm (4) reach the rated speed.

6. The dual-axis rotating target testing method for ATP tracking performance testing as described in claim 4, characterized in that, Based on the data metrics obtained from tracking and targeting, data processing includes: The relationship between the angle θ of the coarse tracking indicator laser of the dual-axis rotating target rotating around the axis and the azimuth angle A and elevation angle E, calculated according to the sine and cosine formulas for spherical triangles, is as follows: Where b is the angle between the rotation axis and the horizontal plane, a is the semi-cone angle of rotation formed by the rotation axis and the incident ATP indicator light, and θ is the angle of rotation of the first rotation axis. , Let ω be the angular velocity of the first rotating axis, and t be the rotation time. based on , Taking the first derivative with respect to time yields the azimuth angular velocity of the simulated target in the coarse tracking field of view. and pitch angular velocity ; based on , Taking the second derivative with respect to time yields the simulated target azimuth acceleration in the coarse tracking field of view. and pitch acceleration .

7. The dual-axis rotating target testing method for ATP tracking performance testing as described in claim 6, characterized in that, Data processing based on the data metrics obtained from tracking and targeting also includes: The relationship between the angle θ of the dual-axis rotating target precision tracking indicator laser's rotation around the axis and the azimuth angle A and elevation angle E is calculated as follows: Where R1 is the radius of rotation of the first axis of rotation, and R2 is the radius of rotation of the second axis of rotation. Let ω be the angular velocity of the second rotating axis, and t be the rotation time. based on , Taking the first derivative with respect to time yields the azimuth angular velocity of the simulated target in the fine-tracking field of view. and pitch angular velocity ; based on , Taking the second derivative with respect to time yields the azimuth acceleration of the simulated target in the fine-tracking field of view. and pitch acceleration .

8. The dual-axis rotating target testing method for ATP tracking performance testing as described in claim 4, characterized in that, It also includes adjusting the range of angular velocity and angular acceleration to meet different test conditions.

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