A method and system for calibrating coaxiality of a laser communication terminal transmitting and receiving optical axis

Abstract

The application provides a laser communication terminal transmitting and receiving optical axis coaxiality calibration method and system, and belongs to the technical field of space laser communication. The method comprises the following steps: obtaining the best light spot centroid coordinates of a laser communication terminal in a camera field of view when the laser communication terminal is shipped, and taking the best light spot centroid coordinates as first light spot centroid coordinates; determining the coordinates of the light spot centroid in the camera field of view at multiple positions according to the first light spot centroid coordinates; constructing a coefficient matrix according to the coordinates of the light spot centroid at each position in the camera field of view; obtaining the coupling light power corresponding to the coordinates of the light spot centroid at each position in the camera field of view to construct a coupling light power matrix; determining the actual light spot centroid coordinates corresponding to the maximum coupling light power according to the coefficient matrix and the coupling light power matrix, and taking the actual light spot centroid coordinates as second light spot centroid coordinates; and determining the lead collimator angle corresponding to the second light spot centroid coordinates according to the corresponding relationship between the light spot centroid coordinates and the lead collimator angle. The application can improve the precision and efficiency of the transmitting and receiving optical axis coaxiality calibration.

Description

Technical Field

[0001] This invention belongs to the field of space laser communication technology, and in particular relates to a method and system for calibrating the coaxiality of the receiving and transmitting axes of a laser communication terminal. Background Technology

[0002] Compared with traditional microwave communication, laser communication has many advantages in transmission capacity, security, anti-interference ability, communication latency, and power consumption. These characteristics have made laser communication a hot research area in recent years. Self-calibration of the coaxiality of the receiving and emitting axes is one of the key technologies for laser communication payloads. The position of the payload's optical components is affected by factors such as manufacturing precision, rocket launch vibration and impact, and thermal deformation caused by environmental changes. This can cause the laser received by the payload to be out of sync with the laser emitted by the payload's light source, affecting the acquisition and tracking effect, leading to reduced payload sensitivity, increased payload link establishment time, and in severe cases, even failure to establish a link.

[0003] Patent application No. 202310286368 discloses an on-orbit self-calibration device and method for a spaceborne laser communication terminal. By rotating a coarse pointing mechanism to align with a cone, the emitted laser signal is returned to its own signal receiving system. The parallelism between the optical axes of the signal emission path, signal reception path, and tracking reception path is determined by the signal reception power and the position of the center of mass of the laser spot on the tracking detector, thereby achieving on-orbit self-calibration of the terminal's optical axis deviation. However, this patent application does not propose a strategy for adjusting the pointing of the advanced aiming scope, and therefore cannot quickly and accurately adjust the advanced aiming scope to the ideal position using an algorithm.

[0004] Patent application number 202510380548 discloses a method for autonomous correction of the optical axis of communication based on tracking point nutation. This method involves controlling a fine-tracking, fast-reflecting mirror to scan a certain range, recording the energy of the light spot within that range, and calculating the tracking point through sliding filtering and centroid calculation of the top 10% of the light spots by power. However, this patent application requires a coarse scan followed by a fine scan during the nutation process, which is too time-consuming and cannot quickly complete coaxiality calibration. Furthermore, it requires setting nutation parameters; if the parameters are not set appropriately, the calibration results will deviate from the actual values. Summary of the Invention

[0005] This invention provides a method and system for calibrating the coaxiality of the receiver and emitter axes of a laser communication terminal. It can determine the rotation angle of the front sight corresponding to the centroid coordinates of the actual spot under the maximum coupled light power by utilizing the correspondence between the rotation angle of the front sight and the coordinates of the spot in the camera's field of view, thereby improving the accuracy and efficiency of the coaxiality calibration of the receiver and emitter axes.

[0006] In a first aspect, the present invention provides a method for calibrating the coaxiality of the light and receiver axes of a laser communication terminal, comprising:

[0007] Obtain the optimal spot centroid coordinates calibrated in the camera's field of view when the laser communication terminal leaves the factory, and use them as the first spot centroid coordinates;

[0008] The coordinates of the centroid of the light spot at multiple locations in the camera's field of view are determined based on the coordinates of the centroid of the first light spot.

[0009] Construct a coefficient matrix based on the coordinates of the centroid of the light spot at each position in the camera's field of view;

[0010] Obtain the coupled optical power corresponding to the coordinates of the centroid of the light spot at each position in the camera's field of view, in order to construct the coupled optical power matrix;

[0011] The actual centroid coordinates of the light spot corresponding to the maximum value of the coupled optical power are determined based on the coefficient matrix and the coupled optical power matrix, and used as the centroid coordinates of the second light spot.

[0012] The angle of the advanced sight corresponding to the centroid coordinates of the second spot is determined based on the correspondence between the centroid coordinates of the spot and the angle of the advanced sight.

[0013] Optionally, determining the coordinates of the centroid of the light spot at multiple locations within the camera's field of view based on the coordinates of the first light spot centroid includes:

[0014] The coordinates of the centroid of the light spot at multiple locations in the camera's field of view are calculated using the following formula:

[0015] ;

[0016] Among them, (x i ,y i Let be the coordinates of the centroid of the light spot at the i-th position in the camera's field of view; i = 1, 2, ..., n; n is the total number of positions the centroid of the light spot has moved; (x f ,y f ) represents the optimal centroid coordinates of the laser communication terminal calibrated in the camera's field of view at the time of manufacture; r represents the minimum radius that the laser spot's movement position must satisfy in the camera's field of view; and π represents pi.

[0017] Optionally, constructing the coefficient matrix based on the coordinates of the spot centroid at each position in the camera's field of view includes:

[0018] The expression for constructing the coefficient matrix A is:

[0019] ;

[0020] Among them, (x n ,y n ) represents the coordinates of the centroid of the light spot at the nth position in the camera's field of view; n is the total number of positions the centroid of the light spot has moved.

[0021] Optionally, determining the actual spot centroid coordinates corresponding to the maximum coupled optical power based on the coefficient matrix and the coupled optical power matrix, and using them as the second spot centroid coordinates, includes:

[0022] The coordinates of the centroid of the second light spot (x) are calculated using the following formula. c ,y c ):

[0023] ;

[0024] Where a is the first coefficient; b is the second coefficient; c is the third coefficient; T denotes the transpose of the matrix; A is the coefficient matrix; (·) + This indicates a pseudo-inverse operation on the matrix; Y is the coupled optical power matrix; P i The coordinates of the centroid of the light spot in the camera's field of view are (x i ,y i The corresponding coupled optical power at (x) time; i ,y i Let be the coordinates of the centroid of the light spot at the i-th position in the camera's field of view; i = 1, 2, ..., n; n is the total number of positions the centroid of the light spot has moved.

[0025] Optionally, determining the forward aiming angle corresponding to the second spot centroid coordinates based on the correspondence between the spot centroid coordinates and the forward aiming angle includes:

[0026] Construct an expression relating the change in the angle of the advanced sight to the change in the coordinates of the centroid of the light spot:

[0027] ;

[0028] Where ΔC is the change in the coordinates of the centroid of the light spot; t xx The change in x-axis angle of the advanced sight is ΔF. x The change in the abscissa of the centroid of the light spot caused by this; t xy The change in x-axis angle of the advanced sight is ΔF. x The change in the ordinate of the centroid of the light spot caused by this change; t yx The change in the y-axis angle of the advanced sight is ΔF. y The change in the abscissa of the centroid of the light spot caused by this; t yy The change in the y-axis angle of the advanced sight is ΔF. y The amount of change in the ordinate of the centroid of the light spot caused by this;

[0029] The correspondence between the centroid coordinates of the spot and the angle of the advanced sight is determined based on the correspondence between the change in the angle of the advanced sight and the change in the centroid coordinates of the spot.

[0030] Secondly, the present invention provides a laser communication terminal receiver-light axis coaxiality calibration system, comprising:

[0031] The acquisition module is used to acquire the optimal spot centroid coordinates calibrated in the camera field of view when the laser communication terminal leaves the factory, and use them as the first spot centroid coordinates.

[0032] The first determining module is used to determine the coordinates of the centroid of the light spot at multiple locations in the camera's field of view based on the coordinates of the centroid of the first light spot.

[0033] The first building module is used to construct a coefficient matrix based on the coordinates of the centroid of the light spot at each position in the camera's field of view;

[0034] The second building module is used to obtain the coupled optical power corresponding to the coordinates of the centroid of the light spot at each position in the camera's field of view, so as to construct the coupled optical power matrix;

[0035] The second determining module is used to determine the actual centroid coordinates of the optical spot corresponding to the maximum value of the coupled optical power based on the coefficient matrix and the coupled optical power matrix, so as to serve as the second centroid coordinates of the optical spot.

[0036] The third determining module is used to determine the angle of the advanced sight corresponding to the centroid coordinates of the second spot based on the correspondence between the centroid coordinates of the spot and the angle of the advanced sight.

[0037] Optionally, the first determining module includes:

[0038] The first calculation unit is used to calculate the coordinates of the centroid of the light spot at multiple locations in the camera's field of view according to the following formula:

[0039] ;

[0040] Among them, (x i ,y i Let be the coordinates of the centroid of the light spot at the i-th position in the camera's field of view; i = 1, 2, ..., n; n is the total number of positions the centroid of the light spot has moved; (x f ,y f ) represents the optimal centroid coordinates of the laser communication terminal calibrated in the camera's field of view at the time of manufacture; r represents the minimum radius that the laser spot's movement position must satisfy in the camera's field of view; and π represents pi.

[0041] Optionally, the first building module includes:

[0042] The first building unit is used to construct the expression for the coefficient matrix A:

[0043] ;

[0044] Among them, (x n ,y n ) represents the coordinates of the centroid of the light spot at the nth position in the camera's field of view; n is the total number of positions the centroid of the light spot has moved.

[0045] Optionally, the second determining module includes:

[0046] The second calculation unit is used to calculate the centroid coordinates (x) of the second spot according to the following formula. c ,y c ):

[0047] ;

[0048] Where a is the first coefficient; b is the second coefficient; c is the third coefficient; T denotes the transpose of the matrix; A is the coefficient matrix; (·) + This indicates a pseudo-inverse operation on the matrix; Y is the coupled optical power matrix; P i The coordinates of the centroid of the light spot in the camera's field of view are (x i ,y i The corresponding coupled optical power at (x) time; i ,y i Let be the coordinates of the centroid of the light spot at the i-th position in the camera's field of view; i = 1, 2, ..., n; n is the total number of positions the centroid of the light spot has moved.

[0049] Optionally, the third determining module includes:

[0050] The second building unit is used to construct the expression relating the change in the angle of the advanced sight to the change in the coordinates of the centroid of the light spot:

[0051] ;

[0052] Where ΔC is the change in the coordinates of the centroid of the light spot; t xx The change in x-axis angle of the advanced sight is ΔF. x The change in the abscissa of the centroid of the light spot caused by this; t xy The change in x-axis angle of the advanced sight is ΔF. x The change in the ordinate of the centroid of the light spot caused by this change; t yx The change in the y-axis angle of the advanced sight is ΔF. y The change in the abscissa of the centroid of the light spot caused by this; t yy The change in the y-axis angle of the advanced sight is ΔF. y The amount of change in the ordinate of the centroid of the light spot caused by this;

[0053] The determining unit is used to determine the correspondence between the centroid coordinates of the light spot and the angle of the advanced sight based on the correspondence between the change in the angle of the advanced sight and the change in the centroid coordinates of the light spot.

[0054] This invention provides a method and system for calibrating the coaxiality of the receiver and emitter axes of a laser communication terminal. The method determines the coordinates of the spot centroid at multiple positions within the camera's field of view by using the optimal spot centroid coordinates calibrated at the factory in the camera's field of view. It then determines the coupled optical power corresponding to the coordinates of the spot centroid at each position and the actual spot centroid coordinates corresponding to the maximum coupled optical power. Finally, it utilizes the correspondence between the rotation angle of the advanced sight and the spot coordinates in the camera's field of view to determine the rotation angle of the advanced sight corresponding to the actual spot centroid coordinates at the maximum coupled optical power, thereby improving the accuracy and efficiency of the coaxiality calibration of the receiver and emitter axes. Attached Figure Description

[0055] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 This is a schematic diagram of the internal optical path of a laser communication terminal provided in an embodiment of the present invention;

[0057] Figure 2 A schematic flowchart illustrating a laser communication terminal receiver-light axis coaxiality calibration method provided in an embodiment of the present invention;

[0058] Figure 3 This is a schematic diagram of a laser communication terminal receiving and transmitting coaxiality calibration system provided in an embodiment of the present invention. Detailed Implementation

[0059] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0060] Example 1

[0061] like Figure 1 As shown, the laser communication terminal provided in this embodiment includes:

[0062] Light source generating device 1 is used to generate laser light of the target wavelength.

[0063] Advanced aiming scope 2 is used to reflect lasers and precisely control the direction of laser reflection.

[0064] The first beam splitter 3 is used to transmit the laser reflected by the advanced aiming scope 2 and part of the laser output from the corner cone 4, wherein the transmitted laser can enter the corner cone 4.

[0065] Cone 4 is used to reflect the laser beam incident on cone 4 back along the original optical path.

[0066] The second beam splitter 5 is used to reflect the laser reflected by the first beam splitter 3 to the infrared camera 6, and to transmit the laser reflected by the first beam splitter 3 to the erbium-doped fiber amplifier (EDFA) 7.

[0067] Infrared camera 6 is used to image the signal light and output the coordinates of the centroid of the light spot in the camera.

[0068] Erbium-doped fiber amplifier 7 is used to receive the transmitted light from the second beam splitter 5 and perform photoelectric conversion on the transmitted light, while simultaneously performing real-time signal demodulation and returning the coupled light power.

[0069] like Figure 2 As shown, this embodiment provides a method for calibrating the coaxiality of the light and shadow axes of a laser communication terminal, including:

[0070] Step 101: Obtain the optimal spot centroid coordinates calibrated in the camera's field of view when the laser communication terminal leaves the factory, and use them as the first spot centroid coordinates.

[0071] In this step, the centroid coordinates of the light spot represent the position of the centroid of the light spot within the field of view of the infrared camera. For example, the coordinate system is established with the lower left corner of the infrared camera's field of view as the origin, the length of the infrared camera's field of view as the x-axis, and the width as the y-axis.

[0072] Step 102: Determine the coordinates of the centroid of the light spot at multiple locations in the camera's field of view based on the coordinates of the centroid of the first light spot.

[0073] For example, the coordinates of the centroid of the light spot at multiple locations in the camera's field of view are calculated using the following formula:

[0074] .

[0075] Among them, (x i ,y i Let be the coordinates of the centroid of the light spot at the i-th position in the camera's field of view; i = 1, 2, ..., n; n is the total number of positions the centroid of the light spot has moved; (x f ,y f ) represents the optimal centroid coordinates of the laser communication terminal calibrated in the camera's field of view at the time of manufacture; r represents the minimum radius that the laser spot's movement position must satisfy in the camera's field of view; and π represents pi.

[0076] For example, after calibration is started, the optimal centroid coordinates of the light spot measured at the factory are used as the starting point, and the advanced sight is controlled to drive the light spot to move in a "rice" shape. Therefore, n=8 and r is the radius of the "rice" shape movement.

[0077] Step 103: Construct a coefficient matrix based on the coordinates of the centroid of the light spot at each position in the camera's field of view.

[0078] For example, the expression for the coefficient matrix A is constructed as follows:

[0079] .

[0080] Among them, (x n ,y n ) represents the coordinates of the centroid of the light spot at the nth position in the camera's field of view; n is the total number of positions the centroid of the light spot has moved.

[0081] Step 104: Obtain the coupled optical power corresponding to the coordinates of the centroid of the light spot at each position in the camera's field of view, in order to construct the coupled optical power matrix.

[0082] In this step, the coupled optical power corresponding to the centroid coordinates of each spot is recorded. A low-pass filter is used to filter the received coupled optical power, and the filtered value is recorded to reduce the impact of data sampling fluctuations.

[0083] For example, the coupled optical power matrix Y = [P1P2… P i … P n ] T ;P n The coordinates of the centroid of the light spot in the camera's field of view are (x n ,y n The corresponding coupled optical power at (x) time; n ,y n () represents the coordinates of the centroid of the light spot at the nth position in the camera's field of view.

[0084] Step 105: Determine the actual centroid coordinates of the optical spot corresponding to the maximum value of the coupled optical power based on the coefficient matrix and the coupled optical power matrix, and use them as the second optical spot centroid coordinates.

[0085] For example, the centroid coordinates (x, y) of the second spot are calculated according to the following formula. c ,y c ):

[0086] .

[0087] Where a is the first coefficient; b is the second coefficient; c is the third coefficient; T denotes the transpose of the matrix; A is the coefficient matrix; (·) + This indicates a pseudo-inverse operation on the matrix; Y is the coupled optical power matrix; P iThe coordinates of the centroid of the light spot in the camera's field of view are (x i ,y i The corresponding coupled optical power at (x) time; i ,y i Let be the coordinates of the centroid of the light spot at the i-th position in the camera's field of view.

[0088] Step 106: Determine the angle of the advanced sight corresponding to the centroid coordinates of the second spot based on the correspondence between the centroid coordinates of the spot and the angle of the advanced sight.

[0089] For example, construct an expression relating the change in the angle of the advanced sight to the change in the coordinates of the centroid of the light spot:

[0090] .

[0091] Where ΔC is the change in the coordinates of the centroid of the light spot; t xx The change in x-axis angle of the advanced sight is ΔF. x The change in the abscissa of the centroid of the light spot caused by this; t xy The change in x-axis angle of the advanced sight is ΔF. x The change in the ordinate of the centroid of the light spot caused by this change; t yx The change in the y-axis angle of the advanced sight is ΔF. y The change in the abscissa of the centroid of the light spot caused by this; t yy The change in the y-axis angle of the advanced sight is ΔF. y The change in the ordinate of the centroid of the light spot caused by this.

[0092] The correspondence between the centroid coordinates of the spot and the angle of the advanced sight is determined based on the correspondence between the change in the angle of the advanced sight and the change in the centroid coordinates of the spot.

[0093] In this step, the relationship between the centroid coordinates of the light spot and the angle of the advanced sight is determined through factory testing.

[0094] In summary, this embodiment provides a method for calibrating the coaxiality of the laser communication terminal's receiver and emitter axes. It determines the coordinates of the spot centroid at multiple positions within the camera's field of view by using the optimal spot centroid coordinates calibrated at the factory in the camera's field of view. This allows for the determination of the coupled optical power corresponding to the spot centroid's coordinates at each position, and the actual spot centroid coordinates corresponding to the maximum coupled optical power. Furthermore, it utilizes the correspondence between the rotation angle of the advanced sight and the spot coordinates in the camera's field of view to determine the rotation angle of the advanced sight corresponding to the actual spot centroid coordinates at the maximum coupled optical power, thereby improving the accuracy and efficiency of the receiver and emitter axis coaxiality calibration.

[0095] Example 2

[0096] Based on the same inventive concept as Embodiment 1, this embodiment also provides a laser communication terminal receiver-light beam coaxiality calibration system. Since the principle of this system in solving the problem is similar to the aforementioned laser communication terminal receiver-light beam coaxiality calibration method, the implementation of this system can refer to the implementation of the laser communication terminal receiver-light beam coaxiality calibration method.

[0097] like Figure 3 As shown, the laser communication terminal receiver-light axis coaxiality calibration system includes:

[0098] The acquisition module 10 is used to acquire the optimal spot centroid coordinates calibrated in the camera field of view when the laser communication terminal leaves the factory, and use them as the first spot centroid coordinates.

[0099] The first determining module 20 is used to determine the coordinates of the centroid of the light spot at multiple positions in the camera's field of view based on the coordinates of the centroid of the first light spot.

[0100] The first building module 30 is used to build a coefficient matrix based on the coordinates of the centroid of the light spot at each position in the camera's field of view.

[0101] The second construction module 40 is used to obtain the coupled optical power corresponding to the coordinates of the centroid of the light spot at each position in the camera's field of view, so as to construct the coupled optical power matrix.

[0102] The second determining module 50 is used to determine the actual centroid coordinates of the optical spot corresponding to the maximum value of the coupled optical power based on the coefficient matrix and the coupled optical power matrix, so as to serve as the second centroid coordinates of the optical spot.

[0103] The third determining module 60 is used to determine the angle of the advanced sight corresponding to the centroid coordinates of the second spot based on the correspondence between the centroid coordinates of the spot and the angle of the advanced sight.

[0104] For example, the first determining module includes:

[0105] The first calculation unit is used to calculate the coordinates of the centroid of the light spot at multiple locations in the camera's field of view according to the following formula:

[0106] .

[0107] Among them, (x i ,y i Let be the coordinates of the centroid of the light spot at the i-th position in the camera's field of view; i = 1, 2, ..., n; n is the total number of positions the centroid of the light spot has moved; (x f ,y f ) represents the optimal centroid coordinates of the laser communication terminal calibrated in the camera's field of view at the time of manufacture; r represents the minimum radius that the laser spot's movement position must satisfy in the camera's field of view; and π represents pi.

[0108] For example, the first building module includes:

[0109] The first building unit is used to construct the expression for the coefficient matrix A:

[0110] .

[0111] Among them, (x n ,y n ) represents the coordinates of the centroid of the light spot at the nth position in the camera's field of view; n is the total number of positions the centroid of the light spot has moved.

[0112] For example, the second determining module includes:

[0113] The second calculation unit is used to calculate the centroid coordinates (x) of the second spot according to the following formula. c ,y c ):

[0114] .

[0115] Where a is the first coefficient; b is the second coefficient; c is the third coefficient; T denotes the transpose of the matrix; A is the coefficient matrix; (·) + This indicates a pseudo-inverse operation on the matrix; Y is the coupled optical power matrix; P i The coordinates of the centroid of the light spot in the camera's field of view are (x i ,y i The corresponding coupled optical power at (x) time; i ,y i Let be the coordinates of the centroid of the light spot at the i-th position in the camera's field of view; i = 1, 2, ..., n; n is the total number of positions the centroid of the light spot has moved.

[0116] For example, the third determining module includes:

[0117] The second building unit is used to construct the expression relating the change in the angle of the advanced sight to the change in the coordinates of the centroid of the light spot:

[0118] .

[0119] Where ΔC is the change in the coordinates of the centroid of the light spot; t xx The change in x-axis angle of the advanced sight is ΔF. x The change in the abscissa of the centroid of the light spot caused by this; t xy The change in x-axis angle of the advanced sight is ΔF. x The change in the ordinate of the centroid of the light spot caused by this change; t yx The change in the y-axis angle of the advanced sight is ΔF. y The change in the abscissa of the centroid of the light spot caused by this; t yy The change in the y-axis angle of the advanced sight is ΔF. yThe change in the ordinate of the centroid of the light spot caused by this.

[0120] The determining unit is used to determine the correspondence between the centroid coordinates of the light spot and the angle of the advanced sight based on the correspondence between the change in the angle of the advanced sight and the change in the centroid coordinates of the light spot.

[0121] For more detailed information on the working process of each of the above modules, please refer to the relevant content disclosed in Example 1, which will not be repeated here.

[0122] Example 3

[0123] This embodiment provides a computer device, including a processor and a memory; wherein, when the processor executes the computer program stored in the memory, it implements the steps of the laser communication terminal receiving and transmitting optical axis coaxiality calibration method described in Embodiment 1.

[0124] For a more detailed explanation of the above method, please refer to the relevant content disclosed in Example 1, which will not be repeated here.

[0125] Example 4

[0126] This embodiment provides a computer-readable storage medium for storing a computer program; when the computer program is executed by a processor, it implements the steps of the laser communication terminal receiver-light axis coaxiality calibration method described in Embodiment 1.

[0127] For a more detailed explanation of the above method, please refer to the relevant content disclosed in Example 1, which will not be repeated here.

[0128] Example 5

[0129] This embodiment provides a computer program product, including computer-executable instructions or a computer program. When the computer-executable instructions or the computer program are executed by a processor, they implement the steps of the laser communication terminal receiving and transmitting optical axis coaxiality calibration method described in Embodiment 1.

[0130] For a more detailed explanation of the above method, please refer to the relevant content disclosed in Example 1, which will not be repeated here.

[0131] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems, devices, storage media, and computer program products disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section.

[0132] Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention can be implemented using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions in the embodiments of the present invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments of the present invention.

[0133] In some embodiments, computer-executable instructions may take the form of programs, software, software modules, scripts, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as stand-alone programs or as modules, components, subroutines, or other units suitable for use in a computing environment.

[0134] As an example, computer-executable instructions may, but do not necessarily, correspond to files in a file system. They may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a Hyper Text Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple co-located files (e.g., files that store one or more modules, subroutines, or code sections).

[0135] As an example, computer-executable instructions can be deployed to execute on a single electronic device, or on multiple electronic devices located at one location, or on multiple electronic devices distributed across multiple locations and interconnected via a communication network.

[0136] The present invention has been described in detail above with reference to specific embodiments and exemplary examples; however, these descriptions should not be construed as limiting the present invention. Those skilled in the art will understand that various equivalent substitutions, modifications, or improvements can be made to the technical solutions and embodiments of the present invention without departing from the spirit and scope of the invention, and all such modifications and improvements fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims.

Claims

1. A method for calibrating the coaxiality of the light and receiver axes of a laser communication terminal, characterized in that, include: Obtain the optimal spot centroid coordinates calibrated in the camera's field of view when the laser communication terminal leaves the factory, and use them as the first spot centroid coordinates; The coordinates of the centroid of the light spot at multiple locations in the camera's field of view are determined based on the coordinates of the centroid of the first light spot. Construct a coefficient matrix based on the coordinates of the centroid of the light spot at each position in the camera's field of view; Obtain the coupled optical power corresponding to the coordinates of the centroid of the light spot at each position in the camera's field of view, in order to construct the coupled optical power matrix; The actual centroid coordinates of the light spot corresponding to the maximum value of the coupled optical power are determined based on the coefficient matrix and the coupled optical power matrix, and used as the centroid coordinates of the second light spot. The angle of the advanced sight corresponding to the centroid coordinates of the second spot is determined based on the correspondence between the centroid coordinates of the spot and the angle of the advanced sight.

2. The laser communication terminal transmit-receive optical axis coaxiality calibration method according to claim 1, characterized in that, The step of determining the coordinates of the centroid of the light spot at multiple locations in the camera's field of view based on the coordinates of the first light spot centroid includes: The coordinates of the centroid of the light spot at multiple locations in the camera's field of view are calculated using the following formula: ； Among them, (x i ,y i Let be the coordinates of the centroid of the light spot at the i-th position in the camera's field of view; i = 1, 2, ..., n; n is the total number of positions the centroid of the light spot has moved; (x f ,y f ) represents the optimal centroid coordinates of the laser communication terminal calibrated in the camera's field of view at the time of manufacture; r represents the minimum radius that the laser spot's movement position must satisfy in the camera's field of view; and π represents pi.

3. The laser communication terminal transmit-receive optical axis coaxiality calibration method according to claim 1, characterized in that, The construction of the coefficient matrix based on the coordinates of the centroid of the light spot at each position in the camera's field of view includes: The expression for constructing the coefficient matrix A is: ； Among them, (x n ,y n ) represents the coordinates of the centroid of the light spot at the nth position in the camera's field of view; n is the total number of positions the centroid of the light spot has moved.

4. The laser communication terminal transmit-receive optical axis coaxiality calibration method according to claim 3, characterized in that, The step of determining the actual spot centroid coordinates corresponding to the maximum coupled optical power based on the coefficient matrix and the coupled optical power matrix, and using them as the second spot centroid coordinates, includes: The coordinates of the centroid of the second light spot (x) are calculated using the following formula. c ,y c ): ； Where a is the first coefficient; b is the second coefficient; c is the third coefficient; T denotes the transpose of the matrix; A is the coefficient matrix; (·) + This indicates a pseudo-inverse operation on the matrix; Y is the coupled optical power matrix; P i The coordinates of the centroid of the light spot in the camera's field of view are (x i ,y i The corresponding coupled optical power at (x) time; i ,y i Let be the coordinates of the centroid of the light spot at the i-th position in the camera's field of view; i = 1, 2, ..., n; n is the total number of positions the centroid of the light spot has moved.

5. The laser communication terminal transmit-receive optical axis coaxiality calibration method according to claim 1, characterized in that, The step of determining the forward aiming angle corresponding to the second spot centroid coordinates based on the correspondence between the spot centroid coordinates and the forward aiming angle includes: Construct an expression relating the change in the angle of the advanced sight to the change in the coordinates of the centroid of the light spot: ； Where ΔC is the change in the coordinates of the centroid of the light spot; t xx The change in x-axis angle of the advanced sight is ΔF. x The change in the abscissa of the centroid of the light spot caused by this; t xy The change in x-axis angle of the advanced sight is ΔF. x The change in the ordinate of the centroid of the light spot caused by this change; t yx The change in the y-axis angle of the advanced sight is ΔF. y The change in the abscissa of the centroid of the light spot caused by this; t yy The change in the y-axis angle of the advanced sight is ΔF. y The amount of change in the ordinate of the centroid of the light spot caused by this; The correspondence between the centroid coordinates of the spot and the angle of the advanced sight is determined based on the correspondence between the change in the angle of the advanced sight and the change in the centroid coordinates of the spot.

6. A laser communication terminal transmit / receive optical axis coaxiality calibration system, characterized in that, include: The acquisition module is used to acquire the optimal spot centroid coordinates calibrated in the camera field of view when the laser communication terminal leaves the factory, and use them as the first spot centroid coordinates. The first determining module is used to determine the coordinates of the centroid of the light spot at multiple locations in the camera's field of view based on the coordinates of the centroid of the first light spot. The first building module is used to construct a coefficient matrix based on the coordinates of the centroid of the light spot at each position in the camera's field of view; The second building module is used to obtain the coupled optical power corresponding to the coordinates of the centroid of the light spot at each position in the camera's field of view, so as to construct the coupled optical power matrix; The second determining module is used to determine the actual centroid coordinates of the optical spot corresponding to the maximum value of the coupled optical power based on the coefficient matrix and the coupled optical power matrix, so as to serve as the second centroid coordinates of the optical spot. The third determining module is used to determine the angle of the advanced sight corresponding to the centroid coordinates of the second spot based on the correspondence between the centroid coordinates of the spot and the angle of the advanced sight.

7. The laser communication terminal transmit / receive optical axis coaxiality calibration system according to claim 6, characterized in that, The first determining module includes: The first calculation unit is used to calculate the coordinates of the centroid of the light spot at multiple locations in the camera's field of view according to the following formula: ； Among them, (x i ,y i Let be the coordinates of the centroid of the light spot at the i-th position in the camera's field of view; i = 1, 2, ..., n; n is the total number of positions the centroid of the light spot has moved; (x f ,y f ) represents the optimal centroid coordinates of the laser communication terminal calibrated in the camera's field of view at the time of manufacture; r represents the minimum radius that the laser spot's movement position must satisfy in the camera's field of view; and π represents pi.

8. The laser communication terminal transmit / receive optical axis coaxiality calibration system according to claim 6, characterized in that, The first building module includes: The first building unit is used to construct the expression for the coefficient matrix A: ； Among them, (x n ,y n ) represents the coordinates of the centroid of the light spot at the nth position in the camera's field of view; n is the total number of positions the centroid of the light spot has moved.

9. The laser communication terminal transmit / receive optical axis coaxiality calibration system according to claim 8, characterized in that, The second determining module includes: The second calculation unit is used to calculate the centroid coordinates (x) of the second spot according to the following formula. c ,y c ): ； Where a is the first coefficient; b is the second coefficient; c is the third coefficient; T denotes the transpose of the matrix; A is the coefficient matrix; (·) + This indicates a pseudo-inverse operation on the matrix; Y is the coupled optical power matrix; P i The coordinates of the centroid of the light spot in the camera's field of view are (x i ,y i The corresponding coupled optical power at (x) time; i ,y i Let be the coordinates of the centroid of the light spot at the i-th position in the camera's field of view; i = 1, 2, ..., n; n is the total number of positions the centroid of the light spot has moved.

10. The laser communication terminal transmit / receive optical axis coaxiality calibration system according to claim 6, characterized in that, The third determining module includes: The second building unit is used to construct the expression relating the change in the angle of the advanced sight to the change in the coordinates of the centroid of the light spot: ； Where ΔC is the change in the coordinates of the centroid of the light spot; t xx The change in x-axis angle of the advanced sight is ΔF. x The change in the abscissa of the centroid of the light spot caused by this; t xy The change in x-axis angle of the advanced sight is ΔF. x The change in the ordinate of the centroid of the light spot caused by this change; t yx The change in the y-axis angle of the advanced sight is ΔF. y The change in the abscissa of the centroid of the light spot caused by this; t yy The change in the y-axis angle of the advanced sight is ΔF. y The amount of change in the ordinate of the centroid of the light spot caused by this; The determining unit is used to determine the correspondence between the centroid coordinates of the light spot and the angle of the advanced sight based on the correspondence between the change in the angle of the advanced sight and the change in the centroid coordinates of the light spot.

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