Laser channel atmospheric turbulence fading real-time compensation device and method based on galvanometer system

Abstract

The invention discloses a laser channel atmospheric turbulence fading real-time compensation device and method based on a galvanometer system, and the method comprises the steps: enabling an incident light beam to irradiate a transparent PCB integrated with a photodiode array after the incident light beam is focused through a convex lens, obtaining the light intensity distribution of a current light spot through the photodiode array, and transmitting the light intensity distribution to a signal processing unit; the signal processing unit coarsely adjusts the deviation direction of the light spots according to the received light intensity distribution data, and aligns the part with the strongest light intensity in the light spots to the end face of the optical fiber; and based on the roughly adjusted light spot deviation direction, the signal processing unit dynamically adjusts the deflection angle of the galvanometer by using a gradient descent method according to the power measurement value of the receiving coupling module, so that the fine adjustment of the light spot deviation direction is realized, and the receiving coupling power is maximized. The objective of receiving optical power maximization is achieved, optical design, electronic control and algorithm optimization are combined, and atmospheric turbulence compensation with high cost performance is achieved.

Description

Technical Field

[0001] This invention belongs to the field of free-space optical communication and relates to atmospheric turbulence compensation technology, specifically to a real-time compensation device and method for atmospheric turbulence attenuation in a laser channel based on a galvanometer system. Background Technology

[0002] Free-space optical communication, a technology that uses light waves to transmit information through the atmosphere, has become a research hotspot in modern communications due to its advantages such as high bandwidth, low latency, resistance to electromagnetic interference, and no need for spectrum licensing. It is particularly suitable for satellite interconnection, UAV communication, and deep-sea exploration. However, a major challenge it faces in practical applications is atmospheric turbulence, which can cause problems such as light intensity flicker, beam drift, beam spread, and phase distortion, severely degrading communication quality. Because of these severe challenges, atmospheric turbulence compensation technology has become an indispensable core component of free-space optical communication, especially in long-distance, high-speed applications. The core objective of compensation is to improve link reliability and stability, reduce bit error rate, and enhance communication quality.

[0003] Existing adaptive optics turbulence compensation systems mainly rely on deformable mirrors (DM) and Hartmann wavefront sensors, which have the following bottlenecks:

[0004] ① High hardware costs. Deformable mirrors require hundreds of piezoelectric drive units (which are very expensive), and also need to be used with high-precision wavefront sensors (such as Shack-Hartmann sensors), which increases system complexity and cost exponentially;

[0005] ② Limited response speed. The wavefront reconstruction algorithm has a delay greater than 5ms, which cannot meet the requirements of dynamic turbulence scenarios with frequencies >200Hz in Greenwood;

[0006] ③ Poor environmental adaptability. Precision optical components require constant temperature and humidity environments and are bulky, making them difficult to deploy in the field or on mobile platforms;

[0007] ④ High optical path complexity. Existing solutions require multiple stages of beam splitters, reflectors, and wavefront correction optical paths, resulting in high optical energy loss and high maintenance difficulty. Summary of the Invention

[0008] Purpose of the invention: In order to overcome the shortcomings of the existing technology, a real-time compensation device and method for atmospheric turbulence attenuation of laser channel based on galvanometer system is provided. Through the three-stage coordination of optical system reconstruction, light intensity gradient field modeling and dynamic feedback control, the problems of high cost and slow response of existing adaptive optics systems are solved.

[0009] Technical Solution: To achieve the above objectives, this invention provides a real-time compensation device for atmospheric turbulence attenuation in a laser channel based on a galvanometer system, comprising:

[0010] Light intensity detection array module: includes a convex lens and a photodiode (PD) array integrated on a transparent PCB board, used to estimate the light intensity distribution of the incident light spot after atmospheric turbulence disturbance;

[0011] The signal processing unit receives data from the light intensity detection array module to construct a light intensity distribution sample, and simultaneously receives real-time received power feedback from the receiving coupling module; it calculates the galvanometer deflection angle through an iterative optimization algorithm and generates corresponding control signals to drive the galvanometer deflection, thereby maximizing the received optical power.

[0012] Galvanometer module: includes a high-speed galvanometer and its driving circuit, which performs dual-axis fine adjustment of the beam direction based on the output signal of the signal processing unit;

[0013] Receiver coupling module: includes optical fiber and integrated power monitor, used to realize optical fiber coupling of the correction beam and provide real-time received power value feedback to the signal processing unit.

[0014] Furthermore, the photodiode array is arranged in one of the following patterns: hexagonal, rectangular grid, or honeycomb, to achieve close packing, minimize the ineffective gaps between photodiodes, and increase the photosensitive area density.

[0015] Furthermore, the photodiode array is disposed on a large-area hollowed-out transparent PCB board, thereby effectively reducing the obstruction of the light path by the substrate material and ensuring that light can shine onto the photodiode unit without obstruction and uniformly.

[0016] Furthermore, the photodiode array is positioned in front of the convex lens.

[0017] Furthermore, multiple lenses exist in the optical path to correct spherical aberration or adjust the focal length.

[0018] Furthermore, a beam splitter can be used to split the incident light into two paths: one for detecting the intensity distribution of the light spot, and the other coupled into an optical fiber. The branch used for detecting the intensity distribution of the light spot does not need to use a transparent PCB.

[0019] Furthermore, FPGA, MCU, or DSP are used as signal processing units.

[0020] This invention also provides a real-time compensation method for atmospheric turbulence attenuation in a laser channel based on a galvanometer system, comprising the following steps:

[0021] S1: After being focused by a convex lens, the incident light beam illuminates the transparent PCB board with an integrated photodiode array. The light intensity distribution of the current light spot is obtained by the photodiode array and sent to the signal processing unit.

[0022] S2: The signal processing unit coarsely adjusts the spot offset direction according to the received light intensity distribution data, aligning the part of the spot with the strongest light intensity with the fiber end face.

[0023] S3: Based on the coarsely adjusted beam offset direction, the signal processing unit uses the gradient descent method to dynamically adjust the galvanometer deflection angle according to the power measurement value of the receiving coupling module, thereby achieving fine adjustment of the beam offset direction and maximizing the receiving coupling power.

[0024] Furthermore, the process of coarsely adjusting the spot offset direction in step S2 includes:

[0025] A photodiode array acquires the light intensity distribution in two-dimensional space. The signal processing unit analyzes the light intensity matrix and calculates the current centroid coordinates (x, y) of the light spot using the following formula. c ,y c ):

[0026]

[0027] Where I(x,y) represents the light intensity value collected by the (x,y)th unit in the photodiode array;

[0028] Through Δx=x c -x0, Δy=y c -y0 obtains the centroid coordinate offset (Δx, Δy) of the light spot, where x0 and y0 are the coordinates of the array center;

[0029] The galvanometer tilt angle is coarsely adjusted based on the centroid offset (Δx, Δy) of the light spot, resulting in the galvanometer deflection angle (Δθ). x ,Δθ y This allows the region of strongest light intensity in the light spot to be aligned with the receiving end.

[0030] Furthermore, in step S2, the coarse adjustment of the galvanometer tilt angle includes the galvanometer deflection angle (Δθ). x ,Δθ y The relationship between the light spot centroid coordinate offset (Δx, Δy) and the light spot centroid offset is as follows:

[0031] Incident light strikes a Y-mirror tilted at an angle θ with its normal pointing towards the X-axis, and is reflected to the end face of the receiving fiber. After passing through atmospheric turbulence, the light spot flickers and drifts. Assume the centroid coordinates of the incident light drift vertically by (x0, y0). c At this point, the tilt angle of the Y mirror needs to be finely adjusted to θ+Δθ so that the centroid of the new light spot can still be reflected to the original receiving end position;

[0032] Let the coordinates of the point on the mirror surface where the incident light strikes are (x, y). m ,y m If the propagation path length of the incident light to the Y-mirror is L1, then the angle between the original incident light and the X-axis is... (When α is very small, a small angle can be used to approximate tanα≈α, in radians); similarly, the angle between the newly incident light and the X-axis... Therefore, the change in the direction of the incident light is:

[0033]

[0034] According to the law of reflection, the incident ray and the reflecting fiber are symmetrical about the normal to the mirror. This means that if the angle of incidence changes by Δφ, the normal to the mirror only needs to change by half an angle to keep the direction of reflection unchanged.

[0035] Similarly, when the centroid of the light spot shifts in the X-axis direction, that is, when the centroid coordinates change from (x0, y0) to (x... c When y = 0, the incident light direction of the X-ray mirror with its normal pointing towards the Y-axis will change. At this time, the tilt angle of the X-ray mirror can be adjusted. This keeps the light path unchanged, where L2 is the effective propagation path length from the Y mirror (the first mirror) to the X mirror (the second mirror);

[0036] according to Generate micro-angle adjustment commands for the dual galvanometers to ensure that the part of the light spot with the strongest light intensity is aligned with the fiber end face.

[0037] Furthermore, the fine-tuning process of the light spot offset direction in step S3 includes:

[0038] A1: The system collects the current galvanometer angle (θ) x ,θ y The power value P measured by the coupling module is received at θ, and then the value is maintained at θ. y Applying θ while keeping the angle constant x Micro-angle perturbation Δθ in direction x And measure the power P after the disturbance. Δx While maintaining θ x Applying θ while keeping the angle constant y Micro-angle perturbation Δθ in direction y And measure the power P after the disturbance. Δy ;

[0039] A2: Calculate the gradient direction of the received power with respect to the mirror angle based on the measured power data.

[0040] A3: Determine the power change trend and follow the gradient direction Iterative update of galvanometer angle (θ) x ,θ y );

[0041] A4: After the galvanometer angle is updated, the received power P at the new angle is collected. new And determine whether the power change tends to stabilize; if the power change |P| is detected multiple times consecutively. new If -P| is less than the preset threshold ε, then pause adjusting the galvanometer angle and enter continuous monitoring mode; otherwise, return to step A1 to continue iterative optimization.

[0042] Furthermore, the gradient direction of the galvanometer angle in step A2 The expression is:

[0043]

[0044] Furthermore, in step A3, the galvanometer angle (θ) x ,θ y The update formula for ) is as follows:

[0045]

[0046] Where α > 0, is the preset learning rate coefficient.

[0047] Furthermore, the operation of the continuous monitoring mode in step A4 includes:

[0048] In monitoring mode, the system collects the received power P in real time and compares it with a preset power threshold P. th Comparison: When monitoring detects that the received power P drops to less than or equal to the threshold P th When this happens, the system immediately restarts the galvanometer angle adjustment process.

[0049] Based on the above solutions, the core design and advantages of this invention compared to existing technologies are as follows:

[0050] ①Integrating a PD array on a transparent PCB to replace a wavefront sensor

[0051] By combining a convex lens to converge the incident light spot, the spatial coherence length is reduced. A PD array is used to model and invert wavefront distortion in real time through intensity gradient field modeling, significantly reducing hardware costs.

[0052] ②Galvanometer-fiber dynamic coupling mechanism

[0053] A galvanometer is used instead of a deformable mirror. The signal processing unit receives data from the PD array and uses an iterative optimization algorithm to find the galvanometer deflection angle that maximizes the optical power at the end face of the receiving fiber and makes dynamic adjustments.

[0054] ③ Environmental robustness and scalability

[0055] The system's operating temperature range has been extended to -40℃ to +85℃, making it suitable for harsh working conditions such as drones.

[0056] The present invention provides a cost-effective solution for atmospheric turbulence fading compensation, offering a feasible path for the large-scale application of FSO technology in communication scenarios with a large number of nodes and high cost sensitivity, such as UAV networking.

[0057] Beneficial Effects: Compared with existing technologies, this invention uses a PD array to replace the wavefront sensor to detect the light spot intensity distribution, a high-speed galvanometer to replace the deformable mirror to adjust the light spot coupling position, selects the light spot coupling angle based on the light spot intensity distribution, and dynamically adjusts the galvanometer angle iteratively in conjunction with receiver coupling power feedback to maximize received optical power. Combined with optical design, electronic control, and algorithm optimization, it achieves cost-effective atmospheric turbulence compensation. The method of this invention maximizes received power through gradient descent iterative optimization, accurately quantifies angle sensitivity using a dual-axis independent perturbation mechanism, and ensures long-term stable system operation through a threshold-protected monitoring mechanism after reaching a power stabilization state. Compared with existing technologies, this invention significantly shortens the compensation response time and reduces hardware costs, making it particularly suitable for cost-sensitive scenarios such as UAV networking and building networking with numerous nodes. Attached Figure Description

[0058] Figure 1 A schematic diagram of a real-time compensation device for atmospheric turbulence attenuation in a laser channel.

[0059] Figure 2 A schematic diagram of the operational framework of a real-time compensation device for atmospheric turbulence attenuation in a laser channel.

[0060] Figure 3 A flowchart of a real-time compensation method for atmospheric turbulence attenuation in a laser channel;

[0061] Figure 4 This is a schematic diagram illustrating the change in the direction of the optical path. Detailed Implementation

[0062] The present invention will be further illustrated below with reference to the accompanying drawings and specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. After reading this invention, any modifications of the invention in various equivalent forms by those skilled in the art will fall within the scope defined by the appended claims.

[0063] like Figure 1 and Figure 2 As shown, this embodiment provides a real-time compensation device for atmospheric turbulence attenuation in a laser channel based on a galvanometer system, comprising:

[0064] Light intensity detection array module: includes a convex lens and a photodiode (PD) array integrated on a transparent PCB board, used to estimate the light intensity distribution of the incident light spot after atmospheric turbulence disturbance;

[0065] The signal processing unit receives data from the light intensity detection array module to construct a light intensity distribution sample, and simultaneously receives real-time received power feedback from the receiving coupling module; it calculates the galvanometer deflection angle through an iterative optimization algorithm and generates corresponding control signals to drive the galvanometer deflection, thereby maximizing the received optical power.

[0066] Galvanometer module: includes a high-speed galvanometer and its driving circuit, which performs dual-axis fine adjustment of the beam direction based on the output signal of the signal processing unit;

[0067] Receiver coupling module: includes optical fiber and integrated power monitor, used to realize optical fiber coupling of the correction beam and provide real-time received power value feedback to the signal processing unit.

[0068] In this embodiment, the photodiode array is arranged in a hexagonal or rectangular grid pattern; the photodiode array is set on a large-area transparent PCB board with cutouts; the photodiode array is placed in front of the convex lens; there are multiple lenses in the optical path to correct spherical aberration or adjust the focal length; a beam splitter is used to split the incident light into two paths, one for detecting the intensity distribution of the light spot, and the other for coupling into the optical fiber. The branch used for detecting the intensity distribution of the light spot does not need to use the transparent PCB; an FPGA is used as the signal processing unit; in this embodiment, two fast steering mirrors (FSMs) can also be used to replace the galvanometer to achieve the same effect.

[0069] In this embodiment, the aforementioned real-time compensation device for atmospheric turbulence attenuation in the laser channel is used for real-time compensation of atmospheric turbulence attenuation in the laser channel, providing a real-time compensation method for atmospheric turbulence attenuation in the laser channel based on a galvanometer system, referring to... Figures 1-3 It includes the following steps:

[0070] S1: After being focused by a convex lens, the incident light beam illuminates the transparent PCB board with an integrated photodiode array. The light intensity distribution of the current light spot is obtained by the photodiode array and sent to the signal processing unit.

[0071] S2: The signal processing unit coarsely adjusts the spot offset direction according to the received light intensity distribution data, aligning the part of the spot with the strongest light intensity with the fiber end face.

[0072] The process of coarsely adjusting the direction of the light spot offset includes:

[0073] A photodiode array acquires the light intensity distribution in two-dimensional space. The signal processing unit analyzes the light intensity matrix and calculates the current centroid coordinates (x, y) of the light spot using the following formula. c ,y c ):

[0074]

[0075] Where I(x,y) represents the light intensity value collected by the (x,y)th unit in the photodiode array;

[0076] Through Δx=x c -x0, Δy=y c -y0 obtains the centroid coordinate offset (Δx, Δy) of the light spot, where x0 and y0 are the coordinates of the array center;

[0077] The galvanometer tilt angle is coarsely adjusted based on the centroid offset (Δx, Δy) of the light spot, resulting in the galvanometer deflection angle (Δθ). x ,Δθ y This allows the region of strongest light intensity in the light spot to be aligned with the receiving end.

[0078] like Figure 4 As shown, the galvanometer tilt angle during coarse adjustment is the galvanometer deflection angle (Δθ). x ,Δθ y The relationship between the light spot centroid coordinate offset (Δx, Δy) and the light spot centroid offset is as follows:

[0079] Incident light strikes a Y-mirror tilted at an angle θ with its normal pointing towards the X-axis, and is reflected to the end face of the receiving fiber. After passing through atmospheric turbulence, the light spot flickers and drifts. Assume the centroid coordinates of the incident light drift vertically by (x0, y0). c At this point, the tilt angle of the Y mirror needs to be finely adjusted to θ+Δθ so that the centroid of the new light spot can still be reflected to the original receiving end position;

[0080] Let the coordinates of the point on the mirror surface where the incident light strikes are (x, y). m ,y m If the propagation path length of the incident light to the Y-mirror is L1, then the angle between the original incident light and the X-axis is... (When α is very small, a small angle can be used to approximate tanα≈α, in radians); similarly, the angle between the newly incident light and the X-axis... Therefore, the change in the direction of the incident light is:

[0081]

[0082] According to the law of reflection, the incident ray and the reflecting fiber are symmetrical about the normal to the mirror. This means that if the angle of incidence changes by Δφ, the normal to the mirror only needs to change by half an angle to keep the direction of reflection unchanged.

[0083] Similarly, when the centroid of the light spot shifts in the X-axis direction, that is, when the centroid coordinates change from (x0, y0) to (x... c When y = 0, the incident light direction of the X-ray mirror with its normal pointing towards the Y-axis will change. At this time, the tilt angle of the X-ray mirror can be adjusted. This keeps the light path unchanged, where L2 is from the Y mirror (the first mirror). Figure 1 The reflection from the mirror located above reaches the X-ray mirror (the second mirror). Figure 1 The effective propagation path length of the mirror located below;

[0084] according to Generate micro-angle adjustment commands for the dual galvanometers to ensure that the part of the light spot with the strongest light intensity is aligned with the fiber end face.

[0085] S3: Based on the coarsely adjusted beam offset direction, the signal processing unit uses the gradient descent method to dynamically adjust the galvanometer deflection angle according to the power measurement value of the receiving coupling module, so as to achieve fine adjustment of the beam offset direction and maximize the receiving coupling power.

[0086] The fine-tuning process for the direction of light spot offset includes:

[0087] A1: The system collects the current galvanometer angle (θ) x ,θ y The power value P measured by the coupling module is received at θ, and then the value is maintained at θ. y Applying θ while keeping the angle constant x Micro-angle perturbation Δθ in direction x And measure the power P after the disturbance. Δx While maintaining θ x Applying θ while keeping the angle constant y Micro-angle perturbation Δθ in direction y And measure the power P after the disturbance. Δy ;

[0088] A2: Calculate the gradient direction of the received power with respect to the mirror angle based on the measured power data.

[0089]

[0090] A3: Determine the power change trend and follow the gradient direction Iterative update of galvanometer angle (θ) x ,θ y The updated formula is as follows:

[0091]

[0092] Where α > 0, is the preset learning rate coefficient.

[0093] A4: After the galvanometer angle is updated, the received power P at the new angle is collected. new And determine whether the power change tends to stabilize; if the power change |P| is detected multiple times consecutively. new If -P| is less than the preset threshold ε, then pause adjusting the galvanometer angle and enter continuous monitoring mode; otherwise, return to step A1 to continue iterative optimization.

[0094] In monitoring mode, the system collects the received power P in real time and compares it with a preset power threshold P. th Comparison: When monitoring detects that the received power P drops to less than or equal to the threshold P th When this happens, the system immediately restarts the galvanometer angle adjustment process.

[0095] In summary, the real-time compensation device and method for atmospheric turbulence attenuation in laser channels based on a galvanometer system provided by this invention uses a honeycomb-arranged PD array to replace the wavefront sensor to detect the light intensity distribution of the light spot, uses a high-speed galvanometer to replace the deformable mirror to adjust the coupling position of the light spot, selects the light spot coupling angle according to the light intensity distribution, and combines the coupling power feedback at the receiver end to dynamically adjust the galvanometer angle through an iterative method to achieve the goal of maximizing the received optical power. By combining optical design, electronic control and algorithm optimization, high-performance atmospheric turbulence compensation is achieved.

Claims

1. A real-time compensation device for atmospheric turbulence attenuation in a laser channel based on a galvanometer system, characterized in that, include: Light intensity detection array module: includes a convex lens and a photodiode array integrated on a transparent PCB board, used to estimate the light intensity distribution of the incident light spot after atmospheric turbulence disturbance; The signal processing unit receives data from the light intensity detection array module to construct a light intensity distribution sample, and simultaneously receives real-time received power feedback from the receiving coupling module; it calculates the galvanometer deflection angle through an iterative optimization algorithm and generates corresponding control signals to drive the galvanometer deflection, thereby maximizing the received optical power. Galvanometer module: includes a high-speed galvanometer and its driving circuit, which performs dual-axis fine adjustment of the beam direction based on the output signal of the signal processing unit; Receiver coupling module: includes optical fiber and integrated power monitor, used to realize optical fiber coupling of the correction beam and provide real-time received power value feedback to the signal processing unit.

2. The real-time compensation device for atmospheric turbulence attenuation in a laser channel based on a galvanometer system according to claim 1, characterized in that, The photodiode array is arranged in a hexagonal or rectangular grid pattern.

3. The real-time compensation device for atmospheric turbulence attenuation in a laser channel based on a galvanometer system according to claim 1, characterized in that, The photodiode array is mounted on a large-area, transparent PCB board with cutouts.

4. A real-time compensation method for atmospheric turbulence attenuation in a laser channel based on a galvanometer system according to claim 1, characterized in that, Includes the following steps: S1: After being focused by a convex lens, the incident light beam illuminates the transparent PCB board with an integrated photodiode array. The light intensity distribution of the current light spot is obtained by the photodiode array and sent to the signal processing unit. S2: The signal processing unit coarsely adjusts the spot offset direction according to the received light intensity distribution data, aligning the part of the spot with the strongest light intensity with the fiber end face. S3: Based on the coarsely adjusted beam offset direction, the signal processing unit uses the gradient descent method to dynamically adjust the galvanometer deflection angle according to the power measurement value of the receiving coupling module, thereby achieving fine adjustment of the beam offset direction and maximizing the receiving coupling power.

5. A real-time compensation method for atmospheric turbulence attenuation in a laser channel based on a galvanometer system according to claim 4, characterized in that, The process of coarsely adjusting the light spot offset direction in step S2 includes: A photodiode array acquires the light intensity distribution in two-dimensional space. The signal processing unit analyzes the light intensity matrix and calculates the current centroid coordinates (x, y) of the light spot using the following formula. c ,y c ): Where I(x,y) represents the light intensity value collected by the (x,y)th unit in the photodiode array; Through Δx=x c -x0, Δy=y c -y0 obtains the centroid coordinate offset (Δx, Δy) of the light spot, where x0 and y0 are the coordinates of the array center; The galvanometer tilt angle is coarsely adjusted based on the centroid offset (Δx, Δy) of the light spot, resulting in the galvanometer deflection angle (Δθ). x ,Δθ y This allows the region of strongest light intensity in the light spot to be aligned with the receiving end.

6. The real-time compensation method for atmospheric turbulence attenuation in a laser channel based on a galvanometer system according to claim 5, characterized in that, In step S2, the mirror tilt angle is adjusted by the mirror deflection angle (Δθ). x ,Δθ y The relationship between the light spot centroid coordinate offset (Δx, Δy) and the light spot centroid offset is as follows: Incident light strikes a Y-mirror tilted at an angle θ with its normal pointing towards the X-axis, and is reflected to the end face of the receiving fiber. After passing through atmospheric turbulence, the light spot flickers and drifts. Assume the centroid coordinates of the incident light drift vertically by (x0, y0). c At this point, the tilt angle of the Y mirror needs to be finely adjusted to θ+Δθ so that the centroid of the new light spot can still be reflected to the original receiving end position; Let the coordinates of the point on the mirror surface where the incident light strikes are (x, y). m ,y m If the propagation path length of the incident light to the Y-mirror is L1, then the angle between the original incident light and the X-axis is... The angle between the newly incident light and the X-axis Therefore, the change in the direction of the incident light is: According to the law of reflection, the incident ray and the reflecting fiber are symmetrical about the normal to the mirror. This means that if the angle of incidence changes by Δφ, the normal to the mirror only needs to change by half an angle to keep the direction of reflection unchanged. Similarly, when the centroid of the light spot shifts in the X-axis direction, that is, when the centroid coordinates change from (x0, y0) to (x... c When y = 0, the incident light direction of the X-ray mirror with its normal pointing towards the Y-axis will change. At this time, the tilt angle of the X-ray mirror can be adjusted. This keeps the optical path unchanged, where L2 is the effective propagation path length from the Y mirror to the X mirror; according to Generate micro-angle adjustment commands for the dual galvanometers to ensure that the part of the light spot with the strongest light intensity is aligned with the fiber end face.

7. A real-time compensation method for atmospheric turbulence attenuation in a laser channel based on a galvanometer system according to claim 6, characterized in that, The fine-tuning process of the spot offset direction in step S3 includes: A1: The system collects the current galvanometer angle (θ) x ,θ y The power value P measured by the coupling module is received at θ, and then the value is maintained at θ. y Applying θ while keeping the angle constant x Micro-angle perturbation Δθ in direction x And measure the power P after the disturbance. Δx While maintaining θ x Applying θ while keeping the angle constant y Micro-angle perturbation Δθ in direction y And measure the power P after the disturbance. Δy ; A2: Calculate the gradient direction of the received power with respect to the mirror angle based on the measured power data. A3: Determine the power change trend and follow the gradient direction Iterative update of galvanometer angle (θ) x ,θ y ); A4: After the galvanometer angle is updated, the received power P at the new angle is collected. new And determine whether the power change tends to stabilize; if the power change |P| is detected multiple times consecutively. new If -P| is less than the preset threshold ε, then pause adjusting the galvanometer angle and enter continuous monitoring mode; otherwise, return to step A1 to continue iterative optimization.

8. A real-time compensation method for atmospheric turbulence attenuation in a laser channel based on a galvanometer system according to claim 7, characterized in that, The gradient direction of the galvanometer angle in step A2 The expression is:

9. A real-time compensation method for atmospheric turbulence attenuation in a laser channel based on a galvanometer system according to claim 8, characterized in that, In step A3, the galvanometer angle (θ) x ,θ y The update formula for ) is as follows: Where α>0 is the preset learning rate coefficient.

10. A real-time compensation method for atmospheric turbulence attenuation in a laser channel based on a galvanometer system according to claim 7, characterized in that, The operation of the continuous monitoring mode in step A4 includes: In monitoring mode, the system collects the received power P in real time and compares it with a preset power threshold P. th Comparison: When monitoring detects that the received power P drops to less than or equal to the threshold P th When this happens, the system immediately restarts the galvanometer angle adjustment process.

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