Laser communication terminal coarse tracking control system

Abstract

The invention relates to a laser communication terminal coarse tracking control system, and relates to the technical field of laser communication, the system comprises a turntable module and a data control processing module, the turntable module comprises an azimuth angle turntable and a pitch angle turntable, the pitch angle turntable is provided with a mounting rack through a connecting piece, and the upper end of the mounting rack is provided with a coarse tracking camera; the mounting frame is used for capturing the target light spot position and transmitting the target light spot position to the data processing control module, a support is fixedly arranged on one side of the upper end of the mounting frame, and an infrared camera is fixedly arranged at one end of the support. According to the application, the coarse tracking camera is arranged, the infrared camera is arranged at the upper end of the mounting frame, and the infrared camera can filter ambient visible light clutters due to high penetrability of infrared light to a target light source, so that a clear light spot image is generated, and the problem that a traditional single camera cannot be used in a complex light environment is solved. And furthermore, the success rate of target light source capturing is improved.

Description

Technical Field

[0001] This invention relates to the field of laser communication, and in particular to a coarse tracking control system for laser communication terminals. Background Technology

[0002] With the development of laser communication technology, the coarse tracking system, as the front-end sensing and execution unit of the laser communication terminal, directly determines the efficiency of establishing and maintaining the stability of the communication link. At present, the mainstream coarse tracking system of laser communication terminals in the industry mainly consists of a turntable module, an image acquisition module, an attitude sensing module, and a control module. The basic working logic is as follows: the image acquisition module captures the target light spot, the attitude sensing module monitors the attitude of the turntable, and the control module generates instructions based on the data to drive the turntable to adjust, thereby realizing light spot tracking.

[0003] Existing coarse tracking systems mostly rely on a single visible light camera to capture the target spot. In complex lighting environments such as direct sunlight, haze, and stray light from multiple sources, the visible light camera is easily affected by stray light interference, resulting in blurred spot images and easy loss of the target. Summary of the Invention

[0004] 1. Technical problems to be solved The purpose of this application is to provide a coarse tracking control system for laser communication terminals to solve the problem that existing coarse tracking systems rely on a single visible light camera to capture the target spot. In complex light environments such as direct sunlight, haze, and stray light from multiple sources, the visible light camera is easily affected by stray light interference, resulting in blurred spot images and easy loss of the target.

[0005] The coarse tracking control system for laser communication terminals provided in this application adopts the following technical solution: it includes a turntable module and a data control and processing module. The turntable module includes an azimuth turntable and a pitch turntable. The pitch turntable is equipped with a mounting frame via a connector. A coarse tracking camera is installed on the upper end of the mounting frame to capture the position of the target light spot and transmit it to the data processing and control module. A bracket is fixedly installed on one side of the upper end of the mounting frame, and an infrared camera is fixedly installed on one end of the bracket to assist the coarse tracking camera in capturing the target light spot, thereby improving the success rate of target light source capture. By adopting the above technical solution, a coarse tracking camera is set up, and an infrared camera is set up at the upper end of the mounting bracket. Because infrared light has high penetration to the target light source, it can filter out ambient visible light clutter and generate a clear light spot image. This solves the problem that traditional single cameras are prone to losing targets and have large light spot recognition deviations in complex lighting environments, thereby improving the success rate of target light source capture.

[0006] Preferably, a reference mirror is fixedly installed on the upper end of one side of the bracket to provide an optical axis reference for the coarse tracking camera. A fiber optic gyroscope is fixedly installed on one side of the bracket to measure the attitude angular velocity and angular displacement of the turntable module in real time, and can quickly sense the current attitude of the turntable and transmit it to the data processing and control module. By adopting the above technical solution, when the azimuth and pitch turntables are running, the fiber optic gyroscope can collect the attitude angular velocity and angular displacement data of the turntable module in real time and feed them back to the data processing and control module.

[0007] Preferably, a MEMS gyroscope is fixedly installed on one side of the bracket below the fiber optic gyroscope for working in conjunction with the fiber optic gyroscope and can also serve as a redundant backup. When the fiber optic gyroscope fails, the MEMS gyroscope can be used to temporarily maintain the normal operation of the laser communication terminal. By adopting the above technical solution, the laser communication terminal can be prevented from being unusable after the fiber optic gyroscope is damaged, thus avoiding the impact on the work progress.

[0008] Preferably, the azimuth turntable includes an azimuth turntable motor, and the pitch turntable includes a pitch turntable motor. Temperature sensors are provided on the surfaces of both the azimuth and pitch turntable motors to detect the surface temperature of the azimuth and pitch turntable motors in real time and transmit the temperature to the data processing and control module in real time. Heating elements are provided on the surfaces of both the azimuth and pitch turntable motors to heat them. By adopting the above technical solution, the temperature sensor can continuously detect the housing temperature of the azimuth and pitch turntable motors and transmit it to the data processing and control module. When the data processing and control module detects that the temperature is too low, it controls the heating element to be powered on and start heating, thereby heating the azimuth and pitch turntable motors.

[0009] Preferably, the data processing control module integrates multi-source data fusion, adaptive PIO control, and dynamic energy consumption adjustment algorithms. The multi-source data fusion algorithm calculates the spot position and generates turntable module control commands based on data provided by the coarse tracking camera, infrared camera, reference mirror, fiber optic gyroscope, and MEMS gyroscope. The adaptive PIO control algorithm can dynamically adjust the rotation parameters of the azimuth and pitch turntable motors according to the commands to the turntable module. By adopting the above technical solution, the data processing and control module collects the spot position, surrounding light environment, attitude angular velocity and angular displacement data in real time, as well as the temperature of the azimuth and pitch turntable motors. Through multiple internally integrated algorithms, it achieves precise control of the entire system.

[0010] Preferably, the energy consumption dynamic adjustment algorithm is used to adjust the operating frequency of each structure according to different working stages of the system, and to control the switching of the heating element according to the data transmitted by the temperature sensor. When the system is in the acquisition stage, the coarse tracking camera, fiber optic gyroscope and MEMS gyroscope are fully powered, but the infrared camera is only turned on when the ambient stray light reaches the system's preset threshold. The heating element is only activated when the temperature of the azimuth turntable motor and the pitch turntable motor is lower than the system's preset threshold. When the signal transmission is in the stable stage, the coarse tracking camera, fiber optic gyroscope and MEMS gyroscope reduce their operating frequency. By adopting the above technical solution and using the dynamic energy consumption adjustment algorithm, energy consumption can be reduced after the laser communication terminal enters stable operation, thereby reducing cost expenditure.

[0011] Preferably, both the temperature sensor and the heating element are electrically connected to the data processing and control module. The temperature data detected by the temperature sensor is transmitted to the data processing and control module in real time. After processing and calculation, the data processing and control module determines whether to activate the heating element. By adopting the above technical solution, the temperature sensor will monitor the azimuth and pitch turntable motors in real time, and the data processing control module will determine whether the azimuth and pitch turntable motors need to be heated.

[0012] A coarse tracking control system for a laser communication terminal includes the following steps: S1: When the laser communication terminal is working, the coarse tracking camera is activated to capture the target spot image in real time, the infrared camera monitors the ambient light intensity in real time, and the fiber optic gyroscope and MEMS gyroscope collect the attitude angular velocity and angular displacement data of the turntable module. The temperature sensor can detect the surface temperature of the azimuth and pitch turntable motors in real time. S2: The spot position data captured by the coarse tracking camera, the ambient light data of the infrared camera, the attitude data of the gyroscope, and the temperature data of the temperature sensor are all transmitted to the data processing and control module in real time. Then, the data processing and control module will use a multi-source data fusion algorithm, combined with the optical axis reference provided by the reference mirror, to determine the real-time position of the target spot and the current attitude deviation of the turntable module, and generate control commands for the azimuth turntable and the pitch turntable. S3: The adaptive PIO control algorithm drives the azimuth turntable motor and the pitch turntable motor according to the control command, and adjusts the rotation angle of the azimuth turntable and the pitch turntable of the turntable module in real time, so that the coarse tracking camera can continuously aim at the target spot. S4: When the data processing control module determines that ambient light interference causes the light spot to become blurred, it activates the infrared camera to enhance the light spot recognition effect and improve the capture success rate. S5: During operation, the data processing control module adjusts the operating parameters according to the current working state of the system through a dynamic energy consumption adjustment algorithm. When the continuous information transmission time exceeds the preset threshold, the system switches to a stable transmission state, reducing the sampling frequency of the coarse tracking camera and the detection frequency of the fiber optic gyroscope and MEMS gyroscope, thereby reducing energy consumption.

[0013] S6: When the temperature of the azimuth and pitch turntable motors transmitted by the temperature sensor to the data processing control module is lower than the threshold, the data processing control module controls the heating element to start and heat the azimuth and pitch turntable motors, thereby avoiding the decrease in motor starting torque caused by the increased coil resistance of the azimuth and pitch turntable motors when the temperature is low.

[0014] 2. Beneficial effects In summary, this application includes at least one of the following beneficial technical effects: 1. This invention provides a coarse tracking control system for a laser communication terminal. By setting a coarse tracking camera, an infrared camera is set on the upper end of the mounting frame. Because infrared light has high penetrability to the target light source, it can filter out ambient visible light clutter, thereby generating a clear light spot image. This solves the problem that traditional single cameras are prone to losing targets and have large light spot recognition deviations in complex lighting environments. At the same time, a reference mirror is set on the upper end of the mounting frame. The reference mirror has an optical axis calibration function, which can further reduce the error of the coarse tracking camera itself. 2. This invention provides a coarse tracking control system for a laser communication terminal. By installing fiber optic gyroscopes and MEMS gyroscopes on one side of the mounting frame, the fiber optic gyroscopes and MEMS gyroscopes can collect the attitude angular velocity and angular displacement data of the turntable module at high frequency in real time during use and feed them back to the data processing and control module. Then, the angles of the azimuth and pitch turntables can be adjusted in real time according to the data processing and control module to ensure that the coarse tracking camera is always aligned with the target light spot, achieving stable and accurate tracking of the target light spot. This avoids displacement of the turntable module due to vibration, which would cause the coarse tracking camera to deviate from the target light spot. At the same time, through a dynamic energy consumption adjustment algorithm, the operating frequency of each module can be adjusted according to different working stages of the system, effectively reducing system energy consumption. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the temperature sensor and heating element mounting structure of the present invention; Figure 3 This is a schematic diagram of the infrared camera mounting structure of the present invention.

[0016] The components include: 1. Turntable module; 101. Azimuth turntable; 102. Pitch turntable; 103. Azimuth turntable motor; 104. Pitch turntable motor; 2. Mounting bracket; 3. Coarse tracking camera; 4. Bracket; 5. Infrared camera; 6. Reference mirror; 7. Fiber optic gyroscope; 8. MEMS gyroscope; 9. Data processing and control module; 10. Temperature sensor; 11. Heating element. Detailed Implementation

[0017] The following is in conjunction with the appendix Figure 1 -Appendix Figure 3 This application will be described in further detail below.

[0018] Example 1: A coarse tracking control system for a laser communication terminal includes a turntable module 1 and a data control and processing module 9. The turntable module 1 includes an azimuth turntable 101 and a pitch turntable 102. The pitch turntable 102 is mounted on a mounting frame 2 via a connector. A coarse tracking camera 3 is mounted on the upper end of the mounting frame 2 to capture the position of the target light spot and transmit it to the data processing and control module 9. A bracket 4 is fixedly mounted on one side of the upper end of the mounting frame 2, and an infrared camera 5 is fixedly mounted on one end of the bracket 4 to assist the coarse tracking camera 3 in capturing the target light spot, thereby improving the success rate of target light source capture. By setting up the coarse tracking camera 3 and the infrared camera 5 on the upper end of the mounting frame, the infrared camera 5 can filter ambient visible light clutter because infrared light has high penetration to the target light source, thereby generating a clear light spot image. This solves the problem of traditional single cameras easily losing targets and having large light spot recognition deviations in complex lighting environments, thereby improving the success rate of target light source capture. A reference mirror 6 is fixedly mounted on the upper side of one side of the bracket 4 to provide an optical axis reference for the coarse tracking camera 3. A fiber optic gyroscope 7 is fixedly mounted on one side of the bracket 4 to measure the attitude angular velocity and angular displacement of the turntable module 1 in real time. It can also quickly sense the current attitude of the turntable and transmit it to the data processing and control module 9. A MEMS gyroscope 8 is fixedly mounted on one side of the bracket 4 below the fiber optic gyroscope 7 to work in conjunction with the fiber optic gyroscope 7 and to serve as a redundancy backup. When the fiber optic gyroscope 7 fails, the MEMS gyroscope 8 can be used to temporarily maintain the normal operation of the laser communication terminal. When the azimuth turntable 101 and the pitch turntable 102 are running, the fiber optic gyroscope 7 and the MEMS gyroscope 8 can collect the attitude angular velocity and angular displacement data of the turntable module 1 in real time and feed it back to the data processing and control module 9. At the same time, when the fiber optic gyroscope 7 fails, the MEMS gyroscope 8 can serve as a backup to maintain the normal operation of the device. The azimuth turntable 101 includes an azimuth turntable motor 103, and the pitch turntable 102 includes a pitch turntable motor 104. Temperature sensors 10 are installed on the surfaces of both the azimuth and pitch turntable motors 103 and 104 to detect their surface temperatures in real time and transmit the data to the data processing and control module 9. Heating elements 11 are installed on the surfaces of both the azimuth and pitch turntable motors 103 and 104. The temperature sensors 10 and heating elements 11 are electrically connected to the data processing and control module 9, and the temperature data detected by the temperature sensors 10 is transmitted to the data processing and control module in real time. 9. After processing and calculating, the data processing and control module 9 determines whether to activate the heating element 11 to heat the azimuth turntable motor 103 and the pitch turntable motor 104. The temperature sensor 10 continuously monitors the housing temperature of the azimuth turntable motor 103 and the pitch turntable motor 104 and transmits it to the data processing and control module 9. When the data processing and control module 9 detects that the temperature is too low, it controls the heating element 11 to be powered on and start heating to heat the azimuth turntable motor 103 and the pitch turntable motor 104. The data processing and control module 9 integrates multi-source data fusion, adaptive PIO control, and dynamic energy consumption adjustment algorithms. The multi-source data fusion algorithm is based on... The position of the light spot is calculated based on data provided by the coarse tracking camera 3, infrared camera 5, reference mirror 6, fiber optic gyroscope 7, and MEMS gyroscope 8, and control commands for the turntable module 1 are generated. The adaptive PIO control algorithm can dynamically adjust the rotation parameters of the azimuth turntable motor 103 and the pitch turntable motor 104 according to the commands to the turntable module 1. The dynamic energy consumption adjustment algorithm is used to adjust the operating frequency of each structure according to different working stages of the system, and to control the switching of the heating element 11 according to the data transmitted by the temperature sensor 10. When the system is in the acquisition stage, the coarse tracking camera 4, fiber optic gyroscope 7, and MEMS gyroscope 8 are fully powered, but the infrared camera 3 is only powered on. The system activates when ambient stray light reaches a preset threshold. The heating element 11 only starts when the temperatures of the azimuth turntable motor 103 and the pitch turntable motor 104 are below the preset threshold. When signal transmission is stable, the coarse tracking camera 4, fiber optic gyroscope 7, and MEMS gyroscope 8 reduce their operating frequencies and control the switching of the heating element 11 based on the data transmitted by the temperature sensor 10. The data processing and control module 9 collects real-time data on the spot position, ambient light environment, attitude angular velocity and angular displacement, as well as the temperatures of the azimuth turntable motor 103 and the pitch turntable motor 104. Through multiple internally integrated algorithms, the system achieves precise control.

[0019] In this embodiment: a coarse tracking camera 3 is provided, and an infrared camera 5 is provided on the upper end of the mounting bracket 2. Because infrared light has high penetrability to the target light source, the infrared camera 5 can filter out ambient visible light clutter, thereby generating a clear light spot image. This solves the problem of traditional single cameras easily losing targets and having large light spot recognition deviations in complex lighting environments. Simultaneously, a reference mirror 6 is provided on the upper end of the mounting bracket 2. The reference mirror 6 has an optical axis calibration function, which can further reduce the inherent error of the coarse tracking camera 3. Furthermore, a fiber optic gyroscope 7 and a MEMS gyroscope 8 are provided on one side of the mounting bracket 2. During use, the fiber optic gyroscope 7... The MEMS gyroscope 8 can collect the attitude angular velocity and angular displacement data of the turntable module 1 in real time at high frequency and feed them back to the data processing and control module 9. Then, the angles of the azimuth turntable 101 and the pitch turntable 102 can be adjusted in real time according to the data processing and control module 9 to ensure that the coarse tracking camera 3 is always aligned with the target light spot, so as to achieve stable and accurate tracking of the target light spot and avoid displacement of the turntable module 1 due to vibration, which would cause the coarse tracking camera 3 to deviate from the target light spot. At the same time, through the dynamic energy consumption adjustment algorithm, the operating frequency of each module can be adjusted according to different working stages of the system, effectively reducing the system energy consumption.

[0020] The implementation principle of this application embodiment is as follows: S1: When the laser communication terminal is working, the coarse tracking camera 3 is activated to capture the target spot image in real time, the infrared camera 5 monitors the ambient light intensity in real time, and the fiber optic gyroscope 7 and MEMS gyroscope 8 collect the attitude angular velocity and angular displacement data of the turntable module 1. The temperature sensor 10 can detect the surface temperature of the azimuth turntable motor 103 and the pitch turntable motor 104 in real time. S2: The spot position data captured by the coarse tracking camera 3, the ambient light data of the infrared camera 5, the attitude data of the gyroscope, and the temperature data of the temperature sensor 10 are all transmitted to the data processing and control module 9 in real time. Then, the data processing and control module 9 will use a multi-source data fusion algorithm, combined with the optical axis reference provided by the reference mirror 6, to determine the real-time position of the target spot and the current attitude deviation of the turntable module 1, and generate control commands for the azimuth turntable 101 and the pitch turntable 102. S3: The adaptive PIO control algorithm drives the azimuth turntable motor 103 and the pitch turntable motor 104 to run according to the control command, and adjusts the rotation angle of the azimuth turntable 101 and the pitch turntable 102 of the turntable module 1 in real time, so that the coarse tracking camera 3 continuously aligns with the target light spot. S4: When the data processing control module 9 determines that ambient light interference causes the light spot to become blurred, it activates the infrared camera 5 to enhance the light spot recognition effect and improve the capture success rate. S5: During operation, the data processing control module 9 adjusts the operating parameters according to the current working state of the system through the energy consumption dynamic adjustment algorithm. When the continuous transmission time of information exceeds the preset threshold, the system switches to a stable transmission state, reducing the sampling frequency of the coarse tracking camera 3 and the detection frequency of the fiber optic gyroscope 7 and MEMS gyroscope 8, thereby reducing energy consumption.

[0021] S6: When the temperature sensor 10 transmits the temperature of the azimuth turntable motor 103 and the pitch turntable motor 104 to the data processing control module 9 below the threshold, the data processing control module 9 controls the heating element 11 to start, so as to heat the azimuth turntable motor 103 and the pitch turntable motor 104, thereby avoiding the increase in coil resistance of the azimuth turntable motor 103 and the pitch turntable motor 104 when the temperature is low, which would cause the motor starting torque to decrease.

Claims

1. A coarse tracking control system for a laser communication terminal, comprising a turntable module (1) and a data control and processing module (9), characterized in that: The turntable module (1) includes an azimuth turntable (101) and a pitch turntable (102). The pitch turntable (102) is equipped with a mounting frame (2) via a connector. A coarse tracking camera (3) is installed on the upper end of the mounting frame (2) to capture the position of the target light spot and transmit it to the data processing control module (9). A bracket (4) is fixedly installed on one side of the upper end of the mounting frame (2). An infrared camera (5) is fixedly installed on one end of the bracket (4) to assist the coarse tracking camera (3) in capturing the target light spot, thereby improving the success rate of capturing the target light source.

2. The coarse tracking control system for a laser communication terminal according to claim 1, characterized in that: A reference mirror (6) is fixedly installed on the upper side of one side of the bracket (4) to provide an optical axis reference for the coarse tracking camera (3). A fiber optic gyroscope (7) is fixedly installed on one side of the bracket (4) to measure the attitude angular velocity and angular displacement of the turntable module (1) in real time, and can quickly sense the current attitude of the turntable and transmit it to the data processing and control module (9).

3. The coarse tracking control system for a laser communication terminal according to claim 2, characterized in that: A MEMS gyroscope (8) is fixedly installed on one side of the bracket (4) below the fiber optic gyroscope (7) for working together with the fiber optic gyroscope (7) and can also serve as a redundant backup. When the fiber optic gyroscope (7) fails, the MEMS gyroscope (8) can be used to temporarily maintain the normal operation of the laser communication terminal.

4. The coarse tracking control system for a laser communication terminal according to claim 1, characterized in that: The azimuth turntable (101) includes an azimuth turntable motor (103), and the pitch turntable (102) includes a pitch turntable motor (104). Temperature sensors (10) are provided on the surfaces of the azimuth turntable motor (103) and the pitch turntable motor (104) to detect the surface temperature of the azimuth turntable motor (103) and the pitch turntable motor (104) in real time and transmit it to the data processing control module (9) in real time. Heating elements (11) are provided on the surfaces of the azimuth turntable motor (103) and the pitch turntable motor (104) to heat the azimuth turntable motor (103) and the pitch turntable motor (104).

5. The coarse tracking control system for a laser communication terminal according to claim 1, characterized in that: The data processing control module (9) integrates multi-source data fusion, adaptive PIO control and dynamic energy consumption adjustment algorithms. The multi-source data fusion algorithm calculates the spot position and generates control commands for the turntable module (1) based on the data provided by the coarse tracking camera (3), infrared camera (5), reference mirror (6), fiber optic gyroscope (7) and MEMS gyroscope (8). The adaptive PIO control algorithm can dynamically adjust the rotation parameters of the azimuth turntable motor (103) and the pitch turntable motor (104) according to the commands to the turntable module (1).

6. The coarse tracking control system for a laser communication terminal according to claim 5, characterized in that: The energy consumption dynamic adjustment algorithm is used to adjust the operating frequency of each structure according to different working stages of the system, and to control the switching of the heating element (11) according to the data transmitted by the temperature sensor (10). When the system is in the capture stage, the coarse tracking camera (4), fiber optic gyroscope (7) and MEMS gyroscope (8) are fully powered, but the infrared camera (3) is only turned on when the ambient stray light reaches the system's preset threshold. The heating element (11) is only started when the temperature of the azimuth turntable motor (103) and pitch turntable motor (104) is lower than the system's preset threshold. When the signal transmission is in the stable stage, the coarse tracking camera (4), fiber optic gyroscope (7) and MEMS gyroscope (8) reduce their operating frequencies.

7. The coarse tracking control system for a laser communication terminal according to claim 4, characterized in that: The temperature sensor (10) and the heating element (11) are both electrically connected to the data processing control module (9). The temperature data detected by the temperature sensor (10) will be transmitted to the data processing control module (9) in real time. The data processing control module (9) will process and calculate the data to determine whether to start the heating element (11).

8. The coarse tracking control system for a laser communication terminal according to any one of claims 1-7, comprising the following steps: S1: When the laser communication terminal is working, the coarse tracking camera (3) is activated to capture the target spot image in real time, the infrared camera (5) monitors the ambient light intensity in real time, and the fiber optic gyroscope (7) and MEMS gyroscope (8) collect the attitude angular velocity and angular displacement data of the turntable module (1). The temperature sensor (10) can detect the surface temperature of the azimuth turntable motor (103) and the pitch turntable motor (104) in real time. S2: The spot position data captured by the coarse tracking camera (3), the ambient light data of the infrared camera (5), the attitude data of the gyroscope, and the temperature data of the temperature sensor (10) are all transmitted to the data processing control module (9) in real time. Then, the data processing control module (9) will use a multi-source data fusion algorithm, combined with the optical axis reference provided by the reference mirror (6), to determine the real-time position of the target spot and the current attitude deviation of the turntable module (1), and generate control commands for the azimuth turntable (101) and the pitch turntable (102). S3: The adaptive PIO control algorithm drives the azimuth turntable motor (103) and the pitch turntable motor (104) to run according to the control command, and adjusts the rotation angle of the azimuth turntable (101) and the pitch turntable (102) of the turntable module (1) in real time, so that the coarse tracking camera (3) continuously aligns with the target spot. S4: When the data processing control module (9) determines that the ambient light interference causes the light spot to become blurred, the infrared camera (5) is activated to enhance the light spot recognition effect and improve the capture success rate. S5: During operation, the data processing control module (9) adjusts the operating parameters according to the current working state of the system through the energy consumption dynamic adjustment algorithm. When the continuous transmission time of information exceeds the preset threshold, the system switches to the stable transmission state, reduces the sampling frequency of the coarse tracking camera (3) and the detection frequency of the fiber optic gyroscope (7) and MEMS gyroscope (8), thereby reducing energy consumption. S6: When the temperature of the azimuth turntable motor (103) and pitch turntable motor (104) transmitted by the temperature sensor (10) to the data processing control module (9) is lower than the threshold, the data processing control module (9) controls the heating element (11) to start, so as to heat the azimuth turntable motor (103) and pitch turntable motor (104) to avoid the motor starting torque from decreasing due to the increased coil resistance of the azimuth turntable motor (103) and pitch turntable motor (104) when the temperature is low.

Images