Laser radar dynamic scanning system and method for capturing and tracking space non-cooperative target

Abstract

The invention discloses a laser radar dynamic scanning system and method for capturing and tracking a spatial non-cooperative target, and the method comprises the steps: employing a DDS direct digital frequency synthesis method based on an LUT for a dual-axis galvanometer waveform generation module, generating a driving waveform of a dual-axis galvanometer, adjusting the address of a phase accumulator in real time according to a prediction position outputted by a position calculation and prediction module, and achieving the real-time detection of the dual-axis galvanometer. And the phase adjustment of the output waveform of the double-shaft galvanometer is realized. The dual-axis galvanometer with different phase differences outputs a Lissajous image formed by waveforms, the coverage rate of a scanning track can be effectively improved, and the capturing probability is improved on the premise that the scanning bandwidth is not changed.

Description

Technical Field

[0001] This invention relates to a dynamic scanning system and method for capturing and tracking non-cooperative targets in space, belonging to the application fields of deep space exploration, spacecraft rendezvous and docking, etc., which require real-time capture and tracking of non-cooperative targets. Background Technology

[0002] When spaceborne lidar is used for tracking and acquiring small, fast-moving, and long-range non-cooperative space targets, traditional grid scanning and spiral scanning methods require large-bandwidth scanning components, while Lissajous scanning methods suffer from missed areas, low acquisition probability, and insufficient tracking capability after acquisition. In fields such as deep space exploration and inter-satellite ranging, there is an urgent need for a scanning method that balances scanning bandwidth requirements and acquisition probability to improve the acquisition and tracking capabilities of spaceborne lidar. Summary of the Invention

[0003] The technical problem solved by this invention is that, in the current technology, lidar scanning methods are difficult to balance the requirements of scanning bandwidth and acquisition probability. Therefore, a dynamic lidar scanning system and method for capturing and tracking non-cooperative targets in space is proposed.

[0004] The present invention solves the above-mentioned technical problem through the following technical solution:

[0005] A dynamic scanning system for acquiring and tracking non-cooperative targets in space using lidar includes a main control subsystem, a laser emission subsystem, an optoelectronic detection subsystem, an X-mirror assembly, and a Y-mirror assembly, wherein:

[0006] The X-mirror assembly is fixed at a preset angle and swings at a corresponding angle according to the drive value set by the main control subsystem; the real-time angle of the X-mirror is fed back to the main control subsystem in the form of analog voltage; the laser emitted by the laser emission subsystem is reflected by the X-mirror assembly to the Y-mirror assembly; the echo laser reflected by the Y-mirror is reflected by the X-mirror assembly and enters the photoelectric detection subsystem;

[0007] The Y-mirror assembly is fixed at a preset angle and swings at a corresponding angle according to the drive value set by the main control subsystem. The real-time angle of the Y-mirror is fed back to the main control subsystem in the form of analog voltage. The laser is reflected by the X-mirror assembly to the Y-mirror assembly and then emitted to the non-cooperative target. The echo laser reflected by the non-cooperative target is reflected by the Y-mirror assembly and then enters the X-mirror assembly.

[0008] The main control subsystem sends laser control commands to the laser emission subsystem; controls the pointing angles of the X-mirror and Y-mirror components according to the characteristics of the non-cooperative target; collects the real-time angles of the X-mirror and Y-mirror components; and collects the analog electrical signals converted and processed by the photoelectric detection subsystem, performs full waveform calculations to obtain the distance values ​​between the lidar and the non-cooperative target, as well as the three-dimensional point cloud data of the non-cooperative target.

[0009] The laser emission subsystem receives laser control commands from the main control subsystem and emits pulsed lasers to the X-ray galvanometer assembly.

[0010] The photoelectric detection subsystem receives the echo laser signal reflected by the X-ray mirror assembly, converts it into an analog electrical signal, and sends it to the main control subsystem.

[0011] The main control subsystem includes a main control circuit, a waveform sampling circuit, a laser control circuit, an X-ray mirror driving circuit, an X-angle acquisition circuit, a Y-ray mirror driving circuit, and a Y-angle acquisition circuit, wherein:

[0012] The main control circuit performs full waveform decoding on the analog electrical signal sent by the waveform sampling circuit to obtain the distance value between the lidar and the non-cooperative target, as well as the three-dimensional point cloud data of the non-cooperative target; and generates driving signals according to the characteristics of the non-cooperative target and sends them to the X-mirror driving circuit and the Y-mirror driving circuit respectively.

[0013] The waveform sampling circuit collects the analog electrical signal converted and processed by the photoelectric detection subsystem and forwards it to the main control circuit.

[0014] The laser control circuit presets the beam pointing angle and generates laser control commands based on the characteristics of the non-cooperative target.

[0015] The X-mirror drive circuit adjusts the swing angle of the X-mirror assembly according to the drive wave generated by the main control circuit.

[0016] The X-angle acquisition circuit acquires the real-time angle of the X-mirror assembly.

[0017] The Y-mirror drive circuit adjusts the swing angle of the Y-mirror assembly according to the drive wave generated by the main control circuit.

[0018] The Y-angle acquisition circuit acquires the real-time angle of the Y-mirror assembly.

[0019] The main control circuit includes an FPGA, a position prediction module, an X-waveform generation module, and a Y-waveform generation module, wherein:

[0020] The FPGA performs full waveform decoding on the analog electrical signals sent by the waveform sampling circuit to obtain the distance values ​​between the lidar and non-cooperative targets, as well as the three-dimensional point cloud data of the non-cooperative targets.

[0021] The position prediction module performs calculations and predictions based on the 3D point cloud data generated by the FPGA, outputs the predicted spatial position 3D point cloud data of the next non-cooperative target, and determines the phase P, translation T, and scaling S of the X-mirror component and Y-mirror component corresponding to the next 3D point cloud data based on the predicted spatial position 3D point cloud data.

[0022] The X-wave generation module generates a driving wave based on the phase P, translation T and scaling S of the X-mirror component and sends it to the X-mirror driving circuit.

[0023] The Y-waveform generation module generates a driving wave based on the phase P, translation T, and scaling S of the Y-mirror component and sends it to the Y-mirror driving circuit.

[0024] The X-waveform generation module and the Y-waveform generation module both receive the phase P, translation T, and scaling S in the corresponding direction to generate Lissajous figures corresponding to the three-dimensional point cloud image, and realize DDS digital frequency synthesis based on a lookup table, with the lookup table pre-set in the FPGA.

[0025] The lookup table is:

[0026] LUT x =sin(2πf) x ·T·(0:N-1))

[0027] LUT y =sin(2πf) y ·T·(0:N-1))

[0028] In the formula, LUT x For the lookup table of the X-axis drive waveform, f x The frequency of the X-axis drive waveform, LUT y For the lookup table of the Y-axis drive waveform, f y Where is the frequency of the Y-axis driving waveform, T is the laser emission interval time, and N is the resolution of a three-dimensional power supply image.

[0029] The X-wave generation module receives the X-wave parameter phase P. x Translation amount T x and scaling S x Then, by LUT x Take the Pth from x Let X be a data point. P1 With scaling factor S x Multiply and then add to T x The summation serves as the driving waveform value for the X-mirror assembly during this laser emission; for the next laser emission, it is derived from the LUT. x Take the Pth from x +1 data point, denoted as X P2Similarly, when acquiring 3D point cloud imaging, the X-mirror driving waveform X... N For: X N =LUT X(1...N) ×S X ×T X .

[0030] The Y waveform generation module receives the Y waveform parameter phase P. Y Translation amount T Y and scaling S Y Then, by LUT Y Take the Pth from Y Let Y be a data point. P1 With scaling factor S Y Multiply and then add to T Y The summation serves as the driving waveform value for the Y-mirror assembly during this laser emission; for the next laser emission, it is derived from the LUT. Y Take the Pth from Y +1 data point, denoted as Y P2 Similarly, when acquiring 3D point cloud imaging, the Y-mirror driving waveform is... N For: Y N =LUT Y(1...N) ×S Y ×T Y .

[0031] The predicted spatial location 3D point cloud data is used to adjust the address of the radar phase accumulator to achieve phase adjustment of the X-mirror assembly and the Y-mirror assembly. The Lissajous image composed of the driving waveforms output by the dual mirror assemblies with different phase differences improves the radar scanning coverage and the acquisition rate of non-cooperative targets.

[0032] A scanning method based on a lidar dynamic phase scanning system includes:

[0033] The swing angles of the X-mirror assembly and the Y-mirror assembly are set through the main control subsystem;

[0034] The main control subsystem generates laser control commands and sends them to the laser emission subsystem. The laser emission subsystem generates a single pulse laser according to the laser control commands and emits it towards the non-cooperative target. During the emission process, the X-angle acquisition circuit and the Y-angle acquisition circuit acquire the current angles of the X-angle mirror assembly and the Y-angle mirror assembly, respectively.

[0035] The photoelectric detection subsystem receives the echo laser signal reflected by the X-ray mirror assembly, converts it into an analog electrical signal, and sends it to the main control subsystem.

[0036] The main control subsystem calculates the analog electrical signal to obtain the distance value from the radar to the non-cooperative target at the current moment. After repeating the operation a preset number of times, it obtains the three-dimensional point cloud data of the non-cooperative target.

[0037] The number of repetitions is a preset image resolution. After acquiring the 3D point cloud data of the non-cooperative target, the position and velocity data of the non-cooperative target at the current moment are calculated and predicted by the position prediction module. The predicted spatial position 3D point cloud data of the non-cooperative target is output. Based on the predicted spatial position 3D point cloud data, the phase P, translation T, and scaling S of the X-mirror component and Y-mirror component corresponding to the next 3D point cloud data are determined. The driving waves corresponding to the X-mirror component and Y-mirror component are generated. Based on the driving waves, the Lissajous figure corresponding to the 3D point cloud image is generated. Based on the lookup table, DDS digital frequency synthesis is used to determine the Y-mirror driving waveform or X-mirror driving waveform information.

[0038] The advantages of this invention compared to the prior art are:

[0039] (1) The present invention provides a dynamic scanning system and method for capturing and tracking non-cooperative targets in space. It proposes a dynamic phase Lissajous scanning method. Based on the current position of the non-cooperative target, the phase, translation and scaling of the scanning curve of the dual-axis galvanometer in the next scan image are determined. This method takes into account both the scanning bandwidth requirements and the capture probability, and can improve the ability of spaceborne lidar to capture and track non-cooperative targets.

[0040] (2) This invention overcomes the problem that grating scanning and spiral scanning require large bandwidth scanning components and have reduced capture efficiency. It uses Lissajous figures of dynamic phase scanning method to improve the coverage of fixed phase scanning method. Without changing the scanning bandwidth, it improves the coverage and can enhance the capture and tracking capability of non-cooperative targets. Attached Figure Description

[0041] Figure 1 This is a block diagram of the spaceborne lidar scanning system provided by the present invention;

[0042] Figure 2 The flowchart of the scanning waveform dynamic phase adjustment method provided by the present invention;

[0043] Figure 3 Flowchart of the dynamic phase scan curve generation method provided by the present invention;

[0044] Figure 4 This is a comparison diagram of the effects of the dynamic phase scanning method and the fixed phase scanning method provided by the present invention. Detailed Implementation

[0045] A dynamic scanning system and method for space non-cooperative target acquisition and tracking using lidar is disclosed. In the dual-axis galvanometer waveform generation module, a DDS (Direct Digital Frequency Synthesis) based on a LUT (Look-Up Table) is used to generate the driving waveform of the dual-axis galvanometer. Based on the predicted position output by the position calculation and prediction module, the address of the phase accumulator is adjusted in real time to achieve phase adjustment of the dual-axis galvanometer output waveform. The Lissajous images formed by the dual-axis galvanometer output waveforms with different phase differences can effectively improve the coverage of the scanning trajectory and increase the acquisition probability without changing the scanning bandwidth.

[0046] The components of a lidar dynamic phase scanning system include:

[0047] The main control subsystem, laser emission subsystem, photoelectric detection subsystem, X-mirror assembly, and Y-mirror assembly include:

[0048] The X-mirror assembly is fixed at a preset angle and swings at a corresponding angle according to the drive value set by the main control subsystem; the real-time angle of the X-mirror is fed back to the main control subsystem in the form of analog voltage; the laser emitted by the laser emission subsystem is reflected by the X-mirror assembly to the Y-mirror assembly; the echo laser reflected by the Y-mirror is reflected by the X-mirror assembly and enters the photoelectric detection subsystem;

[0049] The Y-mirror assembly is fixed at a preset angle and swings at a corresponding angle according to the drive value set by the main control subsystem. The real-time angle of the Y-mirror is fed back to the main control subsystem in the form of analog voltage. The laser is reflected by the X-mirror assembly to the Y-mirror assembly and then emitted to the non-cooperative target. The echo laser reflected by the non-cooperative target is reflected by the Y-mirror assembly and then enters the X-mirror assembly.

[0050] The main control subsystem sends laser control commands to the laser emission subsystem; controls the pointing angles of the X-mirror and Y-mirror components according to the characteristics of the non-cooperative target; collects the real-time angles of the X-mirror and Y-mirror components; and collects the analog electrical signals converted and processed by the photoelectric detection subsystem, performs full waveform calculations to obtain the distance values ​​between the lidar and the non-cooperative target, as well as the three-dimensional point cloud data of the non-cooperative target.

[0051] The laser emission subsystem receives laser control commands from the main control subsystem and emits pulsed lasers to the X-ray galvanometer assembly.

[0052] The photoelectric detection subsystem receives the echo laser signal reflected by the X-ray mirror assembly, converts it into an analog electrical signal, and sends it to the main control subsystem.

[0053] The main control subsystem includes a main control circuit, a waveform sampling circuit, a laser control circuit, an X-ray mirror drive circuit, an X-angle acquisition circuit, a Y-ray mirror drive circuit, and a Y-angle acquisition circuit, wherein:

[0054] The main control circuit performs full waveform decoding on the analog electrical signal sent by the waveform sampling circuit to obtain the distance value between the lidar and the non-cooperative target, as well as the three-dimensional point cloud data of the non-cooperative target; and generates driving signals according to the characteristics of the non-cooperative target and sends them to the X-mirror driving circuit and the Y-mirror driving circuit respectively.

[0055] The waveform sampling circuit collects the analog electrical signal converted and processed by the photoelectric detection subsystem and forwards it to the main control circuit.

[0056] The laser control circuit presets the beam pointing angle and generates laser control commands based on the characteristics of the non-cooperative target.

[0057] The X-mirror drive circuit adjusts the swing angle of the X-mirror assembly according to the drive wave generated by the main control circuit.

[0058] The X-angle acquisition circuit acquires the real-time angle of the X-mirror assembly.

[0059] The Y-mirror drive circuit adjusts the swing angle of the Y-mirror assembly according to the drive wave generated by the main control circuit.

[0060] The Y-angle acquisition circuit acquires the real-time angle of the Y-mirror assembly.

[0061] The main control circuit includes an FPGA, a position prediction module, an X-waveform generation module, and a Y-waveform generation module, wherein:

[0062] The FPGA performs full waveform decoding on the analog electrical signals sent by the waveform sampling circuit to obtain the distance values ​​between the lidar and non-cooperative targets, as well as the three-dimensional point cloud data of the non-cooperative targets.

[0063] The position prediction module performs calculations and predictions based on the 3D point cloud data generated by the FPGA, outputs the predicted spatial position 3D point cloud data of the next non-cooperative target, and determines the phase P, translation T, and scaling S of the X-mirror component and Y-mirror component corresponding to the next 3D point cloud data based on the predicted spatial position 3D point cloud data.

[0064] The X-wave generation module generates a driving wave based on the phase P, translation T and scaling S of the X-mirror component and sends it to the X-mirror driving circuit.

[0065] The Y-waveform generation module generates a driving wave based on the phase P, translation T, and scaling S of the Y-mirror component and sends it to the Y-mirror driving circuit.

[0066] Both the X-waveform generation module and the Y-waveform generation module receive the phase P, translation T, and scaling S in the corresponding direction to generate Lissajous figures corresponding to the 3D point cloud image. They also implement DDS digital frequency synthesis based on a lookup table, which is preset in the FPGA.

[0067] Furthermore, the lookup table is as follows:

[0068] LUT x =sin(2πf) x ·T·(0:N-1))

[0069] LUT y =sin(2πf) y ·T·(0:N-1))

[0070] In the formula, LUT x For the lookup table of the X-axis drive waveform, f x The frequency of the X-axis drive waveform, LUT y For the lookup table of the Y-axis drive waveform, f y Where is the frequency of the Y-axis driving waveform, T is the laser emission interval time, and N is the resolution of a three-dimensional power supply image.

[0071] The X-wave generation module receives the X-wave parameter phase P. x Translation amount T x and scaling S x Then, by LUT x Take the Pth from x Let X be a data point. P1 With scaling factor S x Multiply and then add to T x The summation serves as the driving waveform value for the X-mirror assembly during this laser emission; for the next laser emission, it is derived from the LUT. x Take the Pth from x +1 data point, denoted as X P2 Similarly, when acquiring 3D point cloud imaging, the X-mirror driving waveform X... N For: X N =LUT X(1...N) ×S X ×T X .

[0072] The Y-wave generation module receives the Y-wave parameter phase P. Y Translation amount T Y and scaling S Y Then, by LUT Y Take the Pth from Y Let Y be a data point. P1 With scaling factor S Y Multiply and then add to T Y The summation serves as the driving waveform value for the Y-mirror assembly during this laser emission; for the next laser emission, it is derived from the LUT. Y Take the Pth from Y +1 data point, denoted as Y P2 Similarly, when acquiring 3D point cloud imaging, the Y-mirror driving waveform is...N For: Y N =LUT Y(1...N) ×S Y ×T Y .

[0073] The predicted spatial location 3D point cloud data is used to adjust the address of the radar phase accumulator to achieve phase adjustment of the X-mirror assembly and the Y-mirror assembly. The Lissajous image composed of the driving waveforms output by the dual mirror assemblies with different phase differences improves the radar scanning coverage and the acquisition rate of non-cooperative targets.

[0074] Scanning methods implemented using a lidar dynamic phase scanning system include:

[0075] The X-mirror assembly and the Y-mirror assembly are fixed by pre-setting fixed angles through the main control subsystem.

[0076] The main control subsystem generates laser control commands and sends them to the laser emission subsystem. The laser emission subsystem generates a single pulse laser according to the laser control commands and emits it towards the non-cooperative target. During the emission process, the X-angle acquisition circuit and the Y-angle acquisition circuit acquire the current angles of the X-angle mirror assembly and the Y-angle mirror assembly, respectively.

[0077] The photoelectric detection subsystem receives the echo laser signal reflected by the X-ray mirror assembly, converts it into an analog electrical signal, and sends it to the main control subsystem.

[0078] The main control subsystem calculates the analog electrical signal to obtain the distance value from the radar to the non-cooperative target at the current moment. After repeating the operation a preset number of times, it obtains the three-dimensional point cloud data of the non-cooperative target.

[0079] The number of repetitions is the preset image resolution. After acquiring the 3D point cloud data of the non-cooperative target, the position and velocity data of the non-cooperative target at the current moment are used to calculate and predict the position through the position prediction module. The predicted spatial position 3D point cloud data of the non-cooperative target is output. Based on the predicted spatial position 3D point cloud data, the phase P, translation T, and scaling S of the X-mirror component and Y-mirror component corresponding to the next 3D point cloud data are determined. The driving waves corresponding to the X-mirror component and Y-mirror component are generated. Based on the driving waves, the Lissajous figure corresponding to the 3D point cloud image is generated. Based on the lookup table, DDS digital frequency synthesis is implemented to determine the Y-mirror driving waveform or X-mirror driving waveform information.

[0080] The following description, in conjunction with the accompanying drawings and preferred embodiments, provides further details:

[0081] In the current embodiment, the spaceborne lidar scanning system, as shown in Figure 1, comprises a main control circuit, including an FPGA, a waveform sampling circuit, a laser control circuit, an X-mirror driving circuit, an X-angle acquisition circuit, a Y-mirror driving circuit, and a Y-angle acquisition circuit, used for laser detection signal acquisition and distance calculation, controlling the laser to emit laser light, emitting waveforms driven by the X and Y mirrors, and acquiring the scanning angles of the X and Y mirrors; a laser transmission system, consisting of a laser and a transmitting optical system, used to generate pulsed laser light; a photoelectric detection system, consisting of a receiving optical system and a photoelectric conversion circuit, used to receive light signals reflected from non-cooperative targets and convert them into analog electrical signals; an X-mirror, used to change the direction of the laser beam in the X direction; and a Y-mirror, used to change the direction of the laser beam in the Y direction.

[0082] The specific steps of the lidar dynamic scanning method for capturing and tracking non-cooperative targets in space are as follows:

[0083] 1) The FPGA controls the X-mirror driving circuit and the Y-mirror driving circuit to adjust the beam direction to the corresponding angle;

[0084] 2) After the positions of the X-mirror and Y-mirror are fixed, the FPGA controls the laser to emit a laser pulse;

[0085] 3) While the FPGA controls the laser to emit a laser pulse, the X-mirror angle acquisition circuit and the Y-mirror angle acquisition circuit acquire the current angles of the X-mirror and the Y-mirror.

[0086] 4) After the laser pulse is reflected off the surface of the non-cooperative target, it enters the photoelectric detection system and is converted into an analog electrical signal;

[0087] 5) The waveform sampling circuit uses a high-speed ADC to achieve high-speed acquisition of analog electrical signals, and obtains the target distance value through a full waveform calculation algorithm;

[0088] 6) Repeat steps 1) to 5) a total of N times (N is the resolution of an image) to obtain the 3D point cloud of the non-cooperative target;

[0089] 7) Non-cooperative target position prediction, which involves solving the 3D point cloud to obtain the position, velocity and other signals of the current non-cooperative target, and determining the scanning waveforms of the X and Y mirrors for the next 3D point cloud imaging, including the phase, translation and scaling of the scanning curve.

[0090] 8) The X-waveform generation module and the Y-waveform generation module generate X-waveform and Y-waveform scanning curves based on the phase, translation, and scaling of the X-waveform and Y-waveform driving curves output by the non-cooperative target position prediction module.

[0091] 9) Repeat steps 1) to 6) to perform the next 3D point cloud imaging.

[0092] In the specific steps of the dynamic scanning method for capturing and tracking non-cooperative targets in space using lidar, the non-cooperative target position prediction module, the X-waveform generation module, and the Y-waveform generation module, as follows: Figure 2 As shown;

[0093] In the specific steps of the dynamic scanning method of lidar for capturing and tracking non-cooperative targets in space, the non-cooperative target position prediction module first solves the three-dimensional point cloud, uses the centroid method to determine the spatial position of the non-cooperative target, and then uses the Kalman filter algorithm to determine the possible position of the non-cooperative target in the next three-dimensional point cloud. Based on this position information, the phase P, translation T and scaling S of the X and Y mirror driving curves for the next three-dimensional point cloud imaging are obtained.

[0094] In the specific steps of the dynamic scanning method for acquiring and tracking non-cooperative targets in space using lidar, the X-waveform generation module and the Y-waveform generation module receive the phase, translation, and scaling parameters of the driving curve output by the non-cooperative target position prediction module, forming the Lissajous figure for this 3D imaging. The generation of the X-waveform and Y-waveform employs a DDS (Direct Digital Frequency Synthesis) method based on a LUT (Look-Up Table), such as... Figure 3 As shown. First, lookup tables for the X and Y waveforms are constructed in the FPGA:

[0095] LUT x =sin(2πf) x ·T·(0:N-1))

[0096] LUT y =sin(2πf) y ·T·(0:N-1))

[0097] In the formula, LUT x For the lookup table of the X waveform, f x For the frequency of the X waveform, LUT y For the lookup table of the Y waveform, f y Let Y be the frequency of the Y waveform, T be the laser emission interval, and N be the resolution of a three-dimensional power source image. The X waveform generation module receives the X waveform parameters phase P. x Translation amount T x and scaling S x Then, from LUT x Take the Pth from x Let X be a data point. P1 With scaling factor S x Multiply and then add to T x The summation gives the driving value of the X-mirror during this laser emission. Similarly, for the next laser emission, the value is calculated from the LUT. x Take the Pth from x +1 data point, denoted as X P2Therefore, during sequential 3D point cloud imaging, the X-ray mirror driving waveform is as follows:

[0098] X N =LUT X(1...N) ×S X ×T X

[0099] Similarly, the X-mirror driving waveform is:

[0100] Y N =LUT Y(1...N) ×S Y ×T Y

[0101] In the specific steps of the dynamic scanning method for acquiring and tracking non-cooperative targets in space using lidar, the comparison between the dynamic phase scan pattern generated by the X-wave generation module and the fixed phase scan pattern is as follows: Figure 4 As shown, the coverage of Lissajous figures using the dynamic phase scanning method is significantly improved compared to the fixed phase scanning method. Without changing the scanning bandwidth, the coverage is improved, which can enhance the acquisition and tracking capability of non-cooperative targets.

[0102] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

[0103] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A laser radar dynamic scanning system for space non-cooperative target capture tracking, comprising a master control subsystem, a laser emission subsystem, a photoelectric detection subsystem, an X galvanometer assembly and a Y galvanometer assembly, wherein: the X galvanometer assembly is fixed at a preset angle and swings according to a corresponding angle of a drive value set by the master control subsystem; the real-time angle of the X galvanometer is fed back to the master control subsystem in the form of an analog voltage; the laser emitted by the laser emission subsystem is reflected to the Y galvanometer assembly through the X galvanometer assembly; the echo laser reflected by the Y galvanometer enters the photoelectric detection subsystem after being reflected by the X galvanometer assembly; the Y galvanometer assembly is fixed at a preset angle and swings according to a corresponding angle of a drive value set by the master control subsystem; the real-time angle of the Y galvanometer is fed back to the master control subsystem in the form of an analog voltage; the laser is emitted to the non-cooperative target after being reflected to the Y galvanometer assembly through the X galvanometer assembly; the echo laser reflected by the non-cooperative target enters the X galvanometer assembly after being reflected by the Y galvanometer assembly; the master control subsystem sends a laser control instruction to the laser emission subsystem; controls the pointing angle of the X galvanometer assembly and the Y galvanometer assembly according to the characteristics of the non-cooperative target; collects the real-time angle of the X galvanometer assembly and the Y galvanometer assembly; collects the analog electrical signal processed by the photoelectric detection subsystem, and performs full waveform calculation to obtain the distance value of the laser radar and the non-cooperative target and the three-dimensional point cloud data of the non-cooperative target; the laser emission subsystem receives the laser control instruction sent by the master control subsystem and emits the pulsed laser to the X galvanometer assembly; the photoelectric detection subsystem receives the echo laser signal reflected by the X galvanometer assembly, converts it into an analog electrical signal, and sends it to the master control subsystem. 2.The laser radar dynamic scanning system for space non-cooperative target capture tracking according to claim 1, wherein: the master control subsystem comprises a master control circuit, a waveform sampling circuit, a laser control circuit, an X galvanometer drive circuit, an X angle collection circuit, a Y galvanometer drive circuit and a Y angle collection circuit, wherein: the master control circuit performs full waveform calculation on the analog electrical signal sent by the waveform sampling circuit to obtain the distance value of the laser radar and the non-cooperative target and the three-dimensional point cloud data of the non-cooperative target; generates a drive signal according to the characteristics of the non-cooperative target and sends it to the X galvanometer drive circuit and the Y galvanometer drive circuit; the waveform sampling circuit collects the analog electrical signal processed by the photoelectric detection subsystem and forwards it to the master control circuit; the laser control circuit presets the beam pointing angle according to the characteristics of the non-cooperative target and generates a laser control instruction; the X galvanometer drive circuit adjusts the swing angle of the X galvanometer assembly according to the drive wave generated by the master control circuit; the X angle collection circuit collects the real-time angle of the X galvanometer assembly; the Y galvanometer drive circuit adjusts the swing angle of the Y galvanometer assembly according to the drive wave generated by the master control circuit; and the Y angle collection circuit collects the real-time angle of the Y galvanometer assembly. 3.The laser radar dynamic scanning system for space non-cooperative target capture tracking according to claim 2, wherein: the master control circuit comprises an FPGA, a position prediction module, an X waveform generation module and a Y waveform generation module, wherein: ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ FPGA, full waveform solving of the analog electrical signal sent by the waveform sampling circuit to obtain the distance value of the laser radar and the non-cooperative target, and the three-dimensional point cloud data of the non-cooperative target; A position prediction module is configured to solve and predict according to the three-dimensional point cloud data generated by the FPGA, output the predicted spatial position three-dimensional point cloud data of the next non-cooperative target, and determine the phase P, translation T and scaling S of the X galvanometer assembly and the Y galvanometer assembly corresponding to the next three-dimensional point cloud data according to the predicted spatial position three-dimensional point cloud data; An X waveform generation module is configured to generate a driving wave according to the phase P, translation T and scaling S corresponding to the X galvanometer assembly and send the driving wave to the X galvanometer drive circuit; A Y waveform generation module is configured to generate a driving wave according to the phase P, translation T and scaling S corresponding to the Y galvanometer assembly and send the driving wave to the Y galvanometer drive circuit.

4. The laser radar dynamic scanning system for capturing and tracking a space non-cooperative target according to claim 3, characterized in that: The X waveform generation module and the Y waveform generation module both receive the phase P, translation T and scaling S corresponding to the direction, are configured to generate the Lissajous figure corresponding to the three-dimensional point cloud image, and realize DDS digital frequency synthesis based on a lookup table, and the lookup table is preset in the FPGA.

5. The laser radar dynamic scanning system for capturing and tracking a space non-cooperative target according to claim 4, characterized in that: The lookup table is: LUT x = sin(2πf x · T · (0:N-1)) LUT y = sin(2πf y · T · (0:N-1)) where LUT x is a look-up table for the X-direction driving waveform, f x is a frequency of the X-direction driving waveform, LUT y is a look-up table for the Y-direction driving waveform, f y is a frequency of the Y-direction driving waveform, T is a time interval between laser shots, and N is a resolution of a three-dimensional power image.

6. The laser radar dynamic scanning system for capturing and tracking a space non-cooperative target according to claim 5, characterized in that: The X waveform generation module receives an X waveform parameter phase P x , a translation amount T x , and a scaling amount S x . After that, the P x th data in the LUT x is taken out, recorded as X P1 , multiplied by the scaling factor S x , and then added with T x , as the driving waveform value of the X galvanometer assembly at this time of laser emission. Next time laser emits, the Pth data is taken out from the LUT x , recorded as X x . The Xth mirror drive waveform X P2 is obtained by the same method, and the Xth mirror drive waveform X N is: X N = LUT X(1...N) × S X × T X .

7. The laser radar dynamic scanning system for capturing and tracking a space non-cooperative target according to claim 5, characterized in that: The Y waveform generation module receives a Y waveform parameter phase P Y , a translation amount T Y , and a scaling amount S Y . After that, the P Y th data in the LUT Y is taken out, recorded as Y P1 , multiplied by the scaling factor S Y , and then added with T Y , as the driving waveform value of the Y galvanometer assembly at this time of laser emission; the next time of laser emission, the P Y +1th data in the LUT Y is taken out, recorded as Y P2 , and so on. When three-dimensional point cloud imaging is acquired, the Y galvanometer driving waveform Y N is: Y N = LUT Y(1...N) × S Y × T Y .

8. The laser radar dynamic scanning system for capturing and tracking a space non-cooperative target according to claim 5, characterized in that: The predicted spatial position three-dimensional point cloud data is used to adjust the address of the radar phase accumulator to realize the phase adjustment of the X galvanometer assembly and the Y galvanometer assembly, and the Lissajous image composed of the driving waves output by the double-galvanometer assemblies with different phase differences improves the coverage rate of the radar scanning and the capture rate of the non-cooperative target.

9. A scanning method implemented by the ladar dynamic phase scanning system of claim 5, wherein It comprises: Setting the swing angle of the X galvanometer assembly and the Y galvanometer assembly through the main control subsystem; Generating a laser control instruction through the main control subsystem and sending the laser control instruction to the laser emission subsystem, generating a primary pulse laser according to the laser control instruction and emitting the primary pulse laser to the non-cooperative target, and collecting the current angles of the X galvanometer assembly and the Y galvanometer assembly through the X angle acquisition circuit and the Y angle acquisition circuit respectively during the emission process; Receiving the echo laser signal reflected by the X galvanometer assembly through the photoelectric detection subsystem, converting the echo laser signal into an analog electrical signal, and sending the analog electrical signal to the main control subsystem; Solving the analog electrical signal in the main control subsystem to obtain the distance value of the radar to the non-cooperative target at the current time, and obtaining the three-dimensional point cloud data of the non-cooperative target after a preset number of repeated operations.

10. The scanning method according to claim 9, characterized in that: The number of repetitions of the operation is a preset image resolution, after obtaining the three-dimensional point cloud data of the non-cooperative target, through the position and speed data of the non-cooperative target at the current moment, the position prediction module is used for calculation and prediction, the predicted spatial position three-dimensional point cloud data of the non-cooperative target at the next time is output, and the phase P, the translation amount T and the scaling amount S of the X galvanometer assembly and the Y galvanometer assembly corresponding to the next three-dimensional point cloud data are determined according to the predicted spatial position three-dimensional point cloud data, the driving wave corresponding to the X galvanometer assembly and the Y galvanometer assembly is generated, the Lissajous figure corresponding to the three-dimensional point cloud image is generated according to the driving wave, and the Y galvanometer driving waveform or the X galvanometer driving waveform information is determined based on the look-up table implementation of DDS digital frequency synthesis.

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