Method and device for correcting laser deflection of any spectral band based on environmental black box space

Abstract

The application relates to the technical field of laser atmospheric transmission deflection, and particularly provides an arbitrary spectral range laser deflection correction method and equipment based on an environmental black box space, which comprises the following steps: acquiring multiple frames of spatial two-dimensional images containing test laser spots, obtaining two-dimensional coordinates of spot centers on a target plane at different environmental moments through image processing; establishing a laser deflection mathematical model under a black box environmental space based on a laser original incidence angle and the two-dimensional coordinates, and determining refractive index environmental factors and angle function refractive index environmental factors corresponding to infinite air layers in the model; and determining a theoretical offset amount of to-be-corrected laser according to a laser incidence angle of the to-be-corrected laser in the laser deflection mathematical model, so as to complete laser deflection correction. The application converts a complex nonlinear deflection problem into a linear relationship related to only a laser incidence angle by constructing a laser deflection mathematical model based on a black box environmental space, and obtains a theoretical laser offset amount at environmental changes to correct actual laser deflection.

Description

Technical Field

[0001] This application relates to the field of laser atmospheric transmission deflection technology, and in particular to an arbitrary spectral laser deflection correction method and related equipment based on an environmental black box space. Background Technology

[0002] Laser measurement, due to its advantages of speed, dynamic operation, and high precision, is widely used in various applications such as high-precision engineering measurement, aerospace instrument docking, astronomical observation, photoelectric tracking, and large-aperture antenna attitude measurement. However, during laser atmospheric transmission, significant laser deflection caused by complex atmospheric disturbances affects the accuracy of laser measurements, leading to a substantial decrease in accuracy. Therefore, harsh environments are a crucial factor that must be considered in high-precision laser measurement.

[0003] Most existing studies employ environmental measurements as prior conditions for subsequent laser monitoring and correction. For example, Chinese patent CN107040308A discloses a laser atmospheric transmission turbulence simulation and far-field spot detection instrument, which uses turbulence and vibration simulation components, far-field spot detection components, and optical components. It simulates atmospheric turbulence and vibration during laser far-field transmission by injecting measured atmospheric parameters into software. Chinese patent CN110095784A discloses a modeling method for ocean-lower atmosphere laser transmission under complex environmental influences, analyzing the laser attenuation mechanism through environmental characteristic parameters such as air temperature, air pressure, and precipitation rate. Both patents involve the measurement of environmental parameters, and their overall steps are quite complex, resulting in intricate systems. In the fields of atmospheric optics and optical communication technology, the influence of the environment on lasers is usually represented by turbulence screens. For example, Chinese patent CN116011353A discloses a hybrid method for simulating atmospheric turbulence phase screens. This method uses a complex mathematical model for simulation, which cannot linearize or modularize environmental parameters, thus increasing the difficulty of simulation and calculation. Summary of the Invention

[0004] To address the aforementioned issues, this application provides a laser deflection correction method and device based on an arbitrary spectral band in a black-box environment. By constructing a mathematical model of laser deflection based on a black-box environment, the complex nonlinear deflection problem is transformed into a linear relationship that is only related to the laser incident angle. This allows for the calculation of the theoretical laser offset when the environment changes, ultimately correcting the actual laser deflection.

[0005] To achieve the objectives of this application, the following technical solution is provided:

[0006] In a first aspect, this application provides an arbitrary spectral band laser deflection correction method based on an environmental black box space, comprising:

[0007] Acquire multiple frames of spatial two-dimensional images containing the test laser spot within a preset time period, and perform image processing on each frame of the spatial two-dimensional image to obtain the two-dimensional coordinates of the center of the test laser spot on the target plane under different environmental times.

[0008] A laser deflection mathematical model is established in the black box environment space based on the original laser incident angle and the two-dimensional coordinates. The refractive index environmental factors corresponding to infinitely many air layers and the angular function refractive index environmental factors corresponding to infinitely many air layers are determined through the laser deflection mathematical model.

[0009] In the laser deflection mathematical model, the theoretical offset of the laser to be corrected is determined based on the incident angle of the laser, and the theoretical offset is applied to the laser to be corrected according to the offset direction to complete the laser deflection correction.

[0010] A further improvement in this application is that the mathematical model for laser deflection in a black-box environment space, based on the original laser incident angle and the two-dimensional coordinates, includes: establishing a black-box environment space based on the laser transmission path of the laser spot at different environmental times; the black-box environment space includes infinitely many layers of non-uniform air with random spatial refractive index variations, each air layer having an angle relative to the vertical or horizontal boundary, and each air layer exhibiting local homogeneity; and performing angle transformation on the original laser incident angle through the black-box environment space to obtain the offset in any single direction from the laser incident point; specifically:

[0011] Equation (1)

[0012] In the formula, It refers to the total offset of the laser from the laser incident point in any single direction after the laser has passed through m layers of air; The length of the environmental black box space; The initial refractive index at the laser incident point is... Let be the refractive index of the first air layer within the black box environment. The refractive index of the second air layer within the black box environment space. The refractive index of the third air layer within the black box environment space. Let m be the refractive index of the m-th air layer within the black box environment. The original incident angle of the laser. The angle of deviation of the first air layer within the black box environment space relative to the vertical axis. The deviation angle of the second air layer within the black box environment space relative to the vertical axis. The angle of deviation of the third air layer within the black box environment space relative to the vertical axis. Let be the angle of deviation of the m-th air layer within the black box environment space relative to the vertical axis; Let K be the refractive index of the k-th air layer within the black box environment. The angle of deviation of the j-th air layer within the black box environment space relative to the vertical axis;

[0013] when hour, The formula is:

[0014] Equation (2);

[0015] In the formula, Indicates the length of the environmental black box space. Indicates the position coordinates along the laser propagation path. ; It is a location Atmospheric refractive index at that location Let be the deviation angle of the j-th air layer relative to the vertical axis within the black box environment; the integral represents the cumulative effect of the refractive index ratio along the laser propagation path; that is... This represents the cumulative effect of the original incident angle of a laser being magnified or reduced in a medium with a continuously varying refractive index. Indicates the distance from the point of incidence to the position. At that point, the cumulative effect of all offset angles under the refractive index distribution, This represents the gradient change of the refractive index along the laser propagation path;

[0016] Equation (3);

[0017] in, , It is the refractive index environmental factor of m air layers. , Let m be the refractive index environmental factor, a function of the angles of the air layers; where, Indicates the length of the environmental black box space. The initial refractive index at the laser incident point. Let be the refractive index of the k-th air layer within the black box environment. The original incident angle of the laser. Let be the refractive index of the j-th air layer within the black box environment. Let J be the refractive index of the (j-1)th air layer within the black box environment. Let be the angle of deviation of the j-th air layer relative to the vertical axis within the black box environment space;

[0018] According to equations (2) and (3), and Represented as:

[0019] Equation (4);

[0020] In the formula, Indicates the position coordinates along the laser propagation path. ; For intermediate variables on the integration path, For position Atmospheric refractive index at that location Let be the angle of deviation of the j-th air layer relative to the vertical axis within the black box environment space; It is a location The atmospheric refractive index at a given location is given by the integral, which represents the cumulative effect of the refractive index ratio along the laser propagation path.

[0021] Least squares calculation and The value of .

[0022] A further improvement of this application is that the least squares calculation is used. and The values ​​include: Converted into the difference of the first laser offset at adjacent moments, This is converted into the difference in the second laser offset between adjacent time points, specifically:

[0023] Equation (5);

[0024] In the formula, This represents the refractive index environmental factor of m air layers at a certain time t. This represents the refractive index environmental factor of m air layers relative to the next time t+1. Let m be the refractive index environmental factors of the air layer angle functions at time t. The refractive index environmental factor is the function of the m air layer angles at the next time t+1. This represents the offset of the Mth laser beam spot relative to the incident point of the Mth laser beam. Let be the incident angle of the Mth laser beam;

[0025] Solving by least squares and The value is as follows:

[0026] Equation (6);

[0027] , Equation (7);

[0028] In the formula, It is a design matrix consisting of multiple sets of incident angles and constant terms, used to construct a system of linear equations, where each row corresponds to a measurement. It is a set of observed values ​​of the actual offset of the laser spot extracted from multiple frames of spot images, where, , … The observed values ​​of the actual offset of the laser spot on the target plane under different environmental conditions and times; It is a design matrix The transpose of the matrix, It is the target parameter vector.

[0029] A further improvement of this application is that the offset in any single direction from the laser incident point refers to the total offset in the x or y direction from the laser incident point after the laser passes through m layers of air stratification.

[0030] When calculating the offset in the x-direction,

[0031] Equation (8);

[0032] When calculating the offset in the y-direction,

[0033] Equation (9);

[0034] In the formula, It refers to the offset in the x-direction. It refers to the offset in the y-direction; It refers to the offset angle of the original incident angle of the laser in the x-direction. It refers to the offset angle of the original incident angle of the laser in the y direction.

[0035] A further improvement of this application is that the step of performing image processing on each frame of the spatial two-dimensional image to obtain the two-dimensional coordinates of the laser spot center on the target plane at different environmental times includes: performing noise reduction, distortion correction, camera calibration and coordinate transformation on each frame of the spatial two-dimensional image to obtain the two-dimensional coordinates of the laser spot center on the target plane at different environmental times.

[0036] A further improvement of this application is that, after determining the theoretical offset of the laser to be calibrated based on the incident angle of the laser to be calibrated, the method further includes: identifying the laser to be calibrated as the target test laser; acquiring multiple frames of target spatial two-dimensional images containing the target test laser spot within a preset time period; performing image processing on each frame of the target spatial two-dimensional image to obtain the target two-dimensional coordinates of the center of the target test laser spot on the target plane at different environmental times; establishing a new laser deflection mathematical model in a black box environment space based on the original incident angle of the target test laser and the target two-dimensional coordinates; determining the refractive index environmental factors corresponding to infinitely many air layers and the angular function refractive index environmental factors corresponding to infinitely many air layers through the new laser deflection mathematical model; and verifying the theoretical offset generated by the laser deflection mathematical model based on the new laser deflection mathematical model to determine the model's adaptability to the environment.

[0037] A further improvement of this application is that, in the laser deflection mathematical model, the theoretical offset of the laser to be corrected is determined based on the incident angle of the laser to be corrected, including: introducing the already determined refractive index environmental factor and the angle function refractive index environmental factor into the above equation (3), and inputting the original incident angle of the laser to be corrected to calculate the theoretical offset of the laser to be corrected.

[0038] Secondly, this application provides an arbitrary spectral band laser deflection correction device based on an environmental black box space, used to implement the above-mentioned arbitrary spectral band laser deflection correction method based on an environmental black box space, including:

[0039] The laser emitting end is used to emit test lasers onto the target plane;

[0040] The target plane is arranged parallel to the emitting component of the laser emitting end;

[0041] A laser receiver is used to capture a two-dimensional image of the light spot on the target plane.

[0042] The processing module is used to acquire multiple frames of spatial two-dimensional images containing the test laser spot within a preset time period, and to perform image processing on each frame of the spatial two-dimensional image to obtain the two-dimensional coordinates of the test laser spot center on the target plane under different environmental times; to establish a laser deflection mathematical model under a black box environment space based on the original laser incident angle and the two-dimensional coordinates, and to determine the refractive index environmental factors corresponding to infinitely many air layers and the angular function refractive index environmental factors corresponding to the infinitely many air layers through the laser deflection mathematical model; and to determine the theoretical offset of the laser to be corrected based on the laser incident angle of the laser to be corrected in the laser deflection mathematical model.

[0043] The correction module is used to apply the theoretical offset to the laser to be corrected according to the offset direction, so as to complete the laser deflection correction.

[0044] Thirdly, this application provides a terminal, the terminal including a memory and one or more processors; the memory stores one or more programs; the programs include methods for executing the arbitrary spectral laser deflection correction method based on environmental black box space as described above; the processors are used to execute the programs.

[0045] Fourthly, this application provides a computer-readable storage medium storing a plurality of instructions adapted to be loaded and executed by a processor to implement the steps of the above-described arbitrary spectral laser deflection correction method based on an environmental black-box space.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] The arbitrary spectral laser deflection correction method and device based on the black box environment space provided in this application transforms the complex nonlinear deflection problem into a linear relationship only related to the laser incident angle by constructing a laser deflection mathematical model based on the black box environment space. This effectively avoids the direct solution of complex physical environment quantities, eliminating the need for precise measurement or solution of difficult-to-obtain parameters such as the specific refractive index distribution, temperature gradient, and turbulence intensity of infinitely many non-uniform air layers in the environment. This significantly improves the accuracy and adaptability of laser deflection correction in unknown and dynamically changing atmospheric transmission environments, achieving high-precision laser deflection correction in complex environments. Furthermore, by equating the black box environment space with a model composed of infinitely many angled air layers, the complex environmental disturbances are highly abstracted and simplified into two core environmental component factors, greatly reducing model complexity and computational burden. This enables millisecond-level fast response, effectively meeting the stringent requirements of real-time dynamic compensation in applications such as laser communication and precision measurement. Furthermore, the arbitrary spectral band laser deflection correction method in this embodiment can ensure the time synchronization of all measurement data. By performing laser spot correction using laser spot data detected at the same time, the correction accuracy is higher, which can effectively meet the synchronization requirements for improved accuracy. Attached Figure Description

[0048] The accompanying drawings are provided to further understand this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof.

[0049] Figure 1 A schematic diagram of an optional process for an arbitrary spectral laser deflection correction method based on an environmental black box space provided in an embodiment of this application;

[0050] Figure 2A schematic diagram of the structure of an arbitrary spectral laser deflection correction device based on an environmental black box space provided in an embodiment of this application;

[0051] Figure 3 A schematic diagram of the law of refraction provided for embodiments of this application;

[0052] Figure 4 This is a schematic diagram of arbitrary spectral laser deflection based on an environmental black box space, provided for an embodiment of this application.

[0053] Figure label:

[0054] 1. Laser emitter; 2. Target plane; 3. Laser receiver; 4. Processing module. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0056] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; in the description of this application, unless otherwise stated, "multiple" means two or more.

[0057] The present invention proposes the following technical solutions and corresponding embodiments.

[0058] The following is combined Figures 1 to 4 The illustrated embodiments describe the technical solution of the present invention:

[0059] Example 1

[0060] This application discloses an arbitrary spectral band laser deflection correction method based on an environmental black box space, applied to an arbitrary spectral band laser deflection correction device based on an environmental black box space, with reference to... Figure 1 As shown, the arbitrary spectral band laser deflection correction method based on environmental black box space in this embodiment includes the following steps S101 to S103:

[0061] Step S101: Obtain multiple frames of spatial two-dimensional images containing the test laser spot within a preset time period, and perform image processing on each frame of the spatial two-dimensional image to obtain the two-dimensional coordinates of the center of the test laser spot on the target plane 2 under different environmental times.

[0062] In this embodiment of the application, a spatial two-dimensional image containing a laser spot is acquired within a preset time period, and image processing is performed on the spatial two-dimensional image to obtain the center coordinates of the laser spot under different environmental conditions at different times. Specifically, refer to... Figure 2 As shown, the arbitrary spectral laser deflection correction device based on an environmental black box space in this embodiment includes a laser emitter 1, a target plane 2, a laser receiver 3 (image detection module), and a processing module 4. The laser emitter 1 emits a test laser onto the target plane 2 to form a laser spot. The emitting component of the laser emitter 1 is parallel to the target plane 2. The laser receiver 3 is used to capture a two-dimensional image (spatial two-dimensional image) of the spot on the target plane 2. By defining reference coordinates and processing each spot's two-dimensional image, the two-dimensional coordinates of the laser spot are obtained. Here, the laser receiver 3 can be a camera, a position sensitive detector (PSD), a spot analyzer, or any other device capable of recording the spot's position. As a feasible implementation, the long side of the target plane 2 is defined as the x-axis, the short side as the y-axis, and the direction perpendicular to the target plane as the z-axis.

[0063] Step S102: Establish a laser deflection mathematical model in the black box environment space based on the original incident angle of the laser and the two-dimensional coordinates. Determine the refractive index environmental factors corresponding to infinitely many air layers and the angular function refractive index environmental factors corresponding to the infinitely many air layers through the laser deflection mathematical model.

[0064] In this embodiment, the overall laser transmission path within the laser spot acquisition device is considered as a black box environment under laminar flow, which has infinitely many multi-layered non-uniform air layers with random spatial refractive index variations. It should be noted that the black box environment includes infinitely many air layers, each with an angled boundary, and each air layer exhibits local homogeneity, thus obeying the geometric optics refraction theorem within each air layer. That is, referring to... Figure 3 As shown, according to the principles of geometric optics, the incident angle is... The angle of departure (angle of refraction) is The formula for the law of refraction can be expressed as: , It is the refractive index of the incident medium. is the refractive index of the exit medium, and this law applies to interfaces with any different refractive indices; when passing through m interfaces with different refractive indices, the relationship between the refractive index and the laser incident angle can be determined as follows: ,in, Let be the initial refractive index at the incident laser position (laser incident point). The original incident angle of the laser. , , , These are the refractive indices of the multilayer air medium. , , , These are the transmission angles of the multi-layer air medium, which are the angles between the light rays and the interface normal as the light propagates through the medium.

[0065] In this embodiment, a three-layer air layer in the black box environment is used as an example for illustration and explanation. When the air layer angle exists in the black box environment (interface rotation exists), refer to... Figure 4 As shown, when light rays (laser 1 / laser 2) enter from one air layer to the next, the boundaries between different air layers are not uniform; there is a certain spatial angle between them, that is, each layer has an angle of deviation relative to the vertical axis. In this embodiment, within a non-uniform isotropic air layer, the initial incident angle of the laser light, after entering the next air layer boundary, can be used to derive the exit angle according to the geometric optics refraction theorem. The combination of the exit angle and the deviation angle forms the incident angle entering this air layer boundary. Therefore, the exit angle from this air boundary into a uniform air layer becomes... The angle between the outgoing ray and the horizontal axis is... In other words, the mathematical model in this embodiment is based on the premise that although the air in the environment is non-uniform and has an angle of deviation, when the black box space of the environment is assumed to be an infinite number of air layers, each air layer boundary has an angle, but there is local homogeneity inside the air layer. Therefore, the refraction theorem of geometric optics is followed inside each air layer; wherein, referring to Figure 3 As shown, the light is in a non-uniform isotropic air layer, and the original incident angle of the laser is... Upon entering the next air layer boundary, the exit angle can be determined according to the law of refraction. The combination of the exit angle and the deviation angle forms the incident angle upon entering this air layer boundary. Then the exit angle from this air layer boundary into the uniform air layer becomes The angle between the emitted ray and the horizontal axis is The deviation angle of each air layer relative to the vertical axis is... .

[0066] It should be noted that, referring to Figure 4 As shown, this embodiment only lists the deviation angle, incident angle, and exit angle when there are three air layers. When there are m air layers, there are also m sets of corresponding angles. In addition, the laser emission angles in this embodiment are all small-angle lasers to facilitate subsequent simplification and calculation.

[0067] In this embodiment of the application, through the black box environment space (corresponding to Figure 4 By converting the angle within the dashed box composed of long and short dashed lines, the original incident angle of the laser can be obtained. Offset from the laser incident point in any single direction (x or y direction) , , … Where m is the number of air layers in the black box environment, m≥2. Specifically, the formula for calculating the offset is:

[0068] Formula 1;

[0069] In the formula, It refers to the total offset of the laser from the laser incident point in the x or y direction after passing through m layers of air; This represents the total path length of the laser transmission path, which can also be understood as the length of the environmental black box space. The initial refractive index at the laser incident point. The refractive index of the first air layer within the black box environment. The refractive index of the second air layer within the black box environment. The refractive index of the third air layer within the black box environment. Let m be the refractive index of the m-th air layer within the black box environment. The original incident angle of the laser. The angle of deviation of the first air layer within the black box environment space relative to the vertical axis. The angle of deviation of the second air layer within the black box environment space relative to the vertical axis. The angle of deviation of the third air layer within the black box environment space relative to the vertical axis. Let be the angle of deviation of the m-th air layer within the black box environment space relative to the vertical axis; Let be the refractive index of the k-th air layer within the black box environment; Let be the deviation angle of the j-th air layer relative to the vertical axis within the black box environment space, i.e., the deviation angle of the j-th air layer stratification.

[0070] Since m is the number of air layers, when the interval between air layers is infinitely small, it better satisfies the condition of uniformity within the air layers, so m will tend to infinity; when... hour, The formula is:

[0071] Formula 2;

[0072] In the formula, It refers to the total offset of the laser from the laser incident point in the x or y direction after passing through m layers of air; This is the original incident angle of the laser. The initial refractive index at the laser incident point; This represents the total path length of the laser transmission path. Indicates the position coordinates along the laser propagation path. ; It is a location Atmospheric refractive index at that location Let be the deviation angle of the j-th air layer relative to the vertical or horizontal axis within the black box environment; the integral represents the cumulative effect on the refractive index ratio along the laser propagation path; that is... This represents the cumulative effect of the initial incident angle (the original incident angle of the laser) being magnified or reduced in a medium with a continuously varying refractive index. Indicates the distance from the point of incidence to the position. At that point, the cumulative effect of all offset angles under the refractive index distribution, This represents the gradient change of the refractive index along the laser propagation path.

[0073] In this embodiment, the calculated For offsets in a single direction, spatial laser deflection is a three-dimensional vector; therefore, both the laser offset and the laser deflection angle are represented by three-dimensional vectors. When calculating the offset and offset angle in the x-direction, The formula becomes:

[0074] Formula 3;

[0075] When calculating the offset and offset angle in the y-direction, The formula becomes:

[0076] Formula 4;

[0077] In the formula, It refers to the offset in the x-direction. It refers to the offset in the y-direction; This refers to the original incident angle of the laser. The offset angle (component) in the x-direction corresponds to the laser incident angle in the x-direction; This refers to the original incident angle of the laser. The offset angle (component) in the y-direction corresponds to the laser incident angle in the y-direction.

[0078] In this embodiment, the laser offset is derived based on Equation 1 above, using the continuous medium limit. Regarding the original incident angle of the laser The linear expression for the laser offset is given, where all environmental disturbances are converted into unknowns A and B. Therefore, the laser offset can be expressed as a linear relationship with the original incident angle of the laser, specifically:

[0079] Formula 5;

[0080] in, , It is the refractive index environmental factor of m air layers, which characterizes the spatial gradient effect of atmospheric refractive index along the optical path; , Let m be the refractive index environmental factors, representing the cumulative modulation effect of the deviation angle of each air layer interface on the laser path; where, This represents the total path length of the laser transmission path. The initial refractive index at the laser incident point. Let be the refractive index of the k-th air layer within the black box environment. The original incident angle of the laser. Let be the refractive index of the j-th air layer within the black box environment. Let J be the refractive index of the (j-1)th air layer within the black box environment. Let be the angle of deviation of the j-th air layer relative to the vertical axis within the black box environment.

[0081] Among them, according to equations two and five, and It can be represented as:

[0082] ;

[0083] In the formula, Indicates the position coordinates along the laser propagation path. ; n is an intermediate variable on the integration path. ) is the location Atmospheric refractive index at that location Let be the angle of deviation of the j-th air layer relative to the vertical axis within the black box environment space; It is a location The atmospheric refractive index at a given point is given by the integral, which represents the cumulative effect of the refractive index ratio along the laser propagation path.

[0084] Furthermore, this can be obtained using least squares. and The value; specifically:

[0085] ;

[0086] In the laser correction method of this embodiment, the difference in laser offset at different times is required for the solution, that is... , ,in, This represents the refractive index environmental factor of m air layers at a certain time t. This represents the refractive index environmental factor of m air layers relative to the next time t+1. Let m be the refractive index environmental factors of the air layer angle functions at time t. The refractive index environmental factor is the function of the m air layer angles at the next time t+1. This represents the offset of the Mth laser beam spot relative to the incident point of the Mth laser beam. Let M be the incident angle of the Mth laser beam, where M ≥ 2.

[0087] Solving by least squares and The value is as follows:

[0088] ;

[0089] , ;

[0090] In the formula, It is a design matrix consisting of multiple sets of incident angles and constant terms, used to construct a system of linear equations, where each row corresponds to a measurement. It is a set of observed values ​​of the actual offset of the laser spot extracted from multiple frames of spot images, where, , … The observed values ​​of the actual offset of the laser spot on target plane 2 under different environmental conditions and times; It is a design matrix The transpose of the matrix, It is the target parameter vector, that is, the quantification result of environmental disturbance.

[0091] Here, the arbitrary spectral band laser deflection correction method in this embodiment does not rely on modeling specific environmental parameters. Instead, based on the "black box" concept, it establishes a mapping relationship between the spot offset and the incident angle using acquired measured data. This transforms the complex nonlinear deflection problem into a linear relationship that is only related to the laser incident angle. This makes the deflection correction method universal and robust, applicable to both stable indoor environments and complex and variable outdoor environments, as well as various complex atmospheric environments. In other words, regardless of whether it is a static non-uniform environment or a dynamic random disturbance environment, adaptive correction can be achieved by updating the environmental disturbance factor through the image detection module, overcoming the shortcomings of traditional methods that fail in extreme or rapidly changing environments.

[0092] Step S103: In the laser deflection mathematical model, determine the theoretical offset of the laser to be corrected based on the laser incident angle of the laser to be corrected, and apply the theoretical offset to the laser to be corrected according to the offset direction to complete the laser deflection correction.

[0093] In this embodiment of the application, the already determined refractive index environmental factor ( ) and angular function refractive index environmental factor ( Substituting into Equation 5, by inputting the original incident angle of the laser to be corrected, the theoretical offset of the laser to be corrected can be obtained, and then the corresponding theoretical offset can be applied to the offset direction to complete the laser deflection correction.

[0094] In this embodiment, after determining the theoretical offset of the laser to be calibrated based on its incident angle, the laser to be calibrated can be identified as the target test laser. Multiple frames of two-dimensional images of the target space containing the target test laser spot within a preset time period are acquired. Image processing is performed on each frame of the target space two-dimensional image to obtain the target two-dimensional coordinates of the target test laser spot center on the target plane 2 at different environmental times. Then, based on the original incident angle of the target test laser and the target two-dimensional coordinates, a new laser deflection mathematical model is established in a black-box environment. The new laser deflection mathematical model determines the refractive index environmental factors corresponding to an infinite number of air layers and the angular function refractive index environmental factors corresponding to an infinite number of air layers. Based on the new laser deflection mathematical model, the theoretical offset generated by the laser deflection mathematical model determined by the test laser is verified to determine the adaptability of the model in this embodiment to the environment. In other words, to improve the flexibility of the model and achieve calibration accuracy verification, the test laser and the laser to be calibrated in this embodiment can be interchanged. The test laser can be replaced with the laser to be calibrated at any time, and vice versa, to ensure the accuracy of the laser deflection calibration. Thus, the core idea of ​​the deflection laser correction method in this embodiment is universal and applicable to multi-spectral laser correction, with broad application prospects in fields such as free-space optical communication, adaptive optics, and atmospheric remote sensing.

[0095] The arbitrary spectral laser deflection correction method based on an environmental black-box space provided in this embodiment transforms the complex nonlinear deflection problem into a linear relationship only related to the laser incident angle by constructing a laser deflection mathematical model based on the black-box environmental space. This effectively avoids the direct solution of complex physical environmental quantities, eliminating the need for precise measurement or solution of difficult-to-obtain parameters such as the specific refractive index distribution, temperature gradient, and turbulence intensity of infinitely many non-uniform air layers in the environment. This significantly improves the accuracy and adaptability of laser deflection correction in unknown and dynamically changing atmospheric transmission environments, achieving high-precision laser deflection correction in complex environments. Furthermore, by equating the black-box environmental space with a model composed of infinitely many angled air layers, the complex environmental disturbances are highly abstracted and simplified into two core environmental component factors, greatly reducing model complexity and computational burden. This enables millisecond-level fast response, effectively meeting the stringent requirements of real-time dynamic compensation in applications such as laser communication and precision measurement. In addition, the arbitrary spectral laser deflection correction method in this embodiment can ensure the time synchronization of all measurement data. By performing laser spot correction using laser spot data detected at the same time, the correction accuracy is higher, effectively meeting the synchronization requirements for improved accuracy.

[0096] Example 2

[0097] Based on the above embodiments, this embodiment also provides an arbitrary spectral band laser deflection correction device based on an environmental black box space, used to implement the above-described arbitrary spectral band laser deflection correction method based on an environmental black box space, referring to... Figure 2 As shown, it includes:

[0098] Laser emitting end 1, used to emit test laser to target plane 2;

[0099] The target plane 2 is arranged parallel to the emitting component of the laser emitting end 1;

[0100] Laser receiver 3 is used to capture a two-dimensional image of the light spot on the target plane 2;

[0101] Processing module 4 is used to acquire multiple frames of spatial two-dimensional images containing the test laser spot within a preset time period, and to perform image processing on each frame of the spatial two-dimensional image to obtain the two-dimensional coordinates of the test laser spot center on the target plane 2 under different environmental times; to establish a laser deflection mathematical model under the black box environment space based on the original laser incident angle and the two-dimensional coordinates, and to determine the refractive index environmental factors corresponding to infinitely many air layers and the angular function refractive index environmental factors corresponding to the infinitely many air layers through the laser deflection mathematical model; and to determine the theoretical offset of the laser to be corrected based on the laser incident angle of the laser to be corrected in the laser deflection mathematical model.

[0102] The correction module is used to apply the theoretical offset to the laser to be corrected according to the offset direction, so as to complete the laser deflection correction.

[0103] In this system, the laser emitting end 1 is parallel to the target plane 2, and the laser receiving end 3 captures a two-dimensional image of the laser spot on the target surface. The three-dimensional spatial coordinates of the laser spot are obtained by defining reference coordinates and image processing. The overall laser transmission path is regarded as a black box environment space under laminar flow, which has an infinite number of multi-layered non-uniform air layers with random spatial refractive index changes. A mathematical model of laser deflection under the black box environment space is established. The laser offset at different environmental moments is converted into a linear relationship that is only related to the laser incident angle, and then the theoretical laser offset when the environment changes is obtained. Finally, the actual laser deflection is corrected.

[0104] This application also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements the method in any of the embodiments of this application. Specifically, a system or apparatus equipped with a storage medium may be provided, on which software program code implementing the functions of any of the above embodiments is stored, and the computer (or CPU (Central Processing Unit) or MPU (Microprocessor Unit) of the system or apparatus may read and execute the program code stored in the storage medium.

[0105] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a computer-readable storage medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by a central processing unit (CPU), it performs the functions defined in the system of this application.

[0106] It should be noted that the computer-readable storage medium shown in this invention can be a computer-readable signal medium, a computer-readable storage medium, or any combination thereof. For example, a computer-readable storage medium can be an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. The transmitted data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable storage medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable storage medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF (Radio Frequency), etc., or any suitable combination thereof.

[0107] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0108] The units described in the embodiments of the present invention can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0109] It should be noted that although several modules or units of the device for performing actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of the present invention, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0110] In the several embodiments provided in this application, it should be understood that the disclosed systems, modules, and methods can be implemented in other ways. For example, the module embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between modules or units, and may be electrical, mechanical, or other forms.

[0111] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. This application is not limited to the exact structures described above and illustrated in the accompanying drawings, and it should not be considered that the specific implementation of this application is limited to these descriptions. For those skilled in the art, various changes and modifications made without departing from the concept of this application should be considered to fall within the protection scope of this application.

Claims

1. A laser deflection correction method for arbitrary spectral bands based on an environmental black box space, characterized in that, include: Acquire multiple frames of spatial two-dimensional images containing the test laser spot within a preset time period, and perform image processing on each frame of the spatial two-dimensional image to obtain the two-dimensional coordinates of the center of the test laser spot on the target plane under different environmental times. A laser deflection mathematical model is established in the black box environment space based on the original laser incident angle and the two-dimensional coordinates. The refractive index environmental factors corresponding to infinitely many air layers and the angular function refractive index environmental factors corresponding to infinitely many air layers are determined through the laser deflection mathematical model. In the laser deflection mathematical model, the theoretical offset of the laser to be corrected is determined based on the incident angle of the laser to be corrected, and the theoretical offset is applied to the laser to be corrected according to the offset direction to complete the laser deflection correction. The step of establishing a mathematical model for laser deflection in a black-box environment based on the original incident angle of the laser and the two-dimensional coordinates includes: A black box environment space is established based on the laser transmission path of the laser spot under different environmental conditions. The black box environment space includes an infinite number of multi-layered non-uniform air layers with random spatial refractive index changes. The boundary of each air layer has an angle with respect to the vertical or horizontal boundary, and there is local homogeneity inside each air layer. The original incident angle of the laser is transformed by the black box environment space to obtain the offset in any single direction from the laser incident point; specifically: Equation (1); In the formula, It refers to the total offset of the laser from the laser incident point in any single direction after the laser has passed through m layers of air; The length of the environmental black box space; The initial refractive index at the laser incident point is... Let be the refractive index of the first air layer within the black box environment. The refractive index of the second air layer within the black box environment space. The refractive index of the third air layer within the black box environment space. Let m be the refractive index of the m-th air layer within the black box environment. The original incident angle of the laser. The angle of deviation of the first air layer within the black box environment space relative to the vertical axis. The deviation angle of the second air layer within the black box environment space relative to the vertical axis. The angle of deviation of the third air layer within the black box environment space relative to the vertical axis. The angle of deviation of the m-th air layer within the black box environment space relative to the vertical axis; Let K be the refractive index of the k-th air layer within the black box environment. The angle of deviation of the j-th air layer within the black box environment space relative to the vertical axis; when hour, The formula is: Equation (2); In the formula, It refers to the total offset of the laser from the laser incident point in the x or y direction after passing through m layers of air; This is the original incident angle of the laser. The initial refractive index at the laser incident point; Indicates the length of the environmental black box space. Indicates the position coordinates along the laser propagation path. ; It is a location Atmospheric refractive index at that location Let be the deviation angle of the j-th air layer relative to the vertical axis within the black box environment; the integral represents the cumulative effect of the refractive index ratio along the laser propagation path; that is... This represents the cumulative effect of the original incident angle of a laser being magnified or reduced in a medium with a continuously varying refractive index. Indicates the distance from the point of incidence to the position. At that point, the cumulative effect of all offset angles under the refractive index distribution, This represents the gradient change of the refractive index along the laser propagation path; Equation (3); in, , It is the refractive index environmental factor of m air layers. , Let m be the refractive index environmental factor, a function of the angles of the air layers; where, Indicates the length of the environmental black box space. The initial refractive index at the laser incident point. Let be the refractive index of the k-th air layer within the black box environment. The original incident angle of the laser. Let be the refractive index of the j-th air layer within the black box environment. Let J be the refractive index of the (j-1)th air layer within the black box environment. Let be the angle of deviation of the j-th air layer relative to the vertical axis within the black box environment space; According to equations (2) and (3), and Represented as: Equation (4); In the formula, Indicates the position coordinates along the laser propagation path. ; For intermediate variables on the integration path, For position Atmospheric refractive index at that location Let be the angle of deviation of the j-th air layer relative to the vertical axis within the black box environment space; It is a location The atmospheric refractive index at a given location is given by the integral, which represents the cumulative effect of the refractive index ratio along the laser propagation path. Least squares calculation and The value of .

2. The arbitrary spectral band laser deflection correction method based on environmental black box space according to claim 1, characterized in that, The least squares calculation is used. and The values ​​include: Will Converted into the difference of the first laser offset at adjacent moments, The difference in the second laser offset between adjacent time points is converted as follows: Equation (5); In the formula, This represents the refractive index environmental factor of m air layers at a certain time t. This represents the refractive index environmental factor of m air layers relative to the next time t+1. Let m be the refractive index environmental factors of the air layer angle functions at time t. The refractive index environmental factor is the function of the m air layer angles at the next time t+1. This represents the offset of the Mth laser beam spot relative to the incident point of the Mth laser beam. Let be the incident angle of the Mth laser beam; Solving by least squares and The value is as follows: Equation (6); , Equation (7); In the formula, It is a design matrix consisting of multiple sets of incident angles and constant terms, used to construct a system of linear equations, where each row corresponds to a measurement. It is a set of observed values ​​of the actual offset of the laser spot extracted from multiple frames of spot images, where, , … The observed values ​​of the actual offset of the laser spot on the target plane under different environmental conditions and times; It is a design matrix The transpose of the matrix, It is the target parameter vector.

3. The arbitrary spectral band laser deflection correction method based on environmental black box space according to claim 2, characterized in that, The offset in any single direction from the laser incident point refers to the total offset in the x or y direction from the laser incident point after the laser has passed through m layers of air. When calculating the offset in the x-direction, Equation (8); When calculating the offset in the y-direction, Equation (9); In the formula, It refers to the offset in the x-direction. It refers to the offset in the y-direction; It refers to the offset angle of the original incident angle of the laser in the x-direction. It refers to the offset angle of the original incident angle of the laser in the y direction.

4. The arbitrary spectral band laser deflection correction method based on environmental black box space according to claim 3, characterized in that, The step of image processing for each frame of the spatial two-dimensional image to obtain the two-dimensional coordinates of the laser spot center on the target plane at different environmental times includes: Denoising, distortion correction, camera calibration, and coordinate transformation are performed on each frame of the spatial two-dimensional image to obtain the two-dimensional coordinates of the laser spot center on the target plane at different environmental times.

5. The arbitrary spectral band laser deflection correction method based on environmental black box space according to claim 3, characterized in that, The determination of the theoretical offset of the laser to be corrected based on the incident angle of the laser in the laser deflection mathematical model includes: The determined refractive index environmental factor and angular function refractive index environmental factor are introduced into the above equation (3), and the original incident angle of the laser to be corrected is input to calculate the theoretical offset of the laser to be corrected.

6. The arbitrary spectral band laser deflection correction method based on environmental black box space according to any one of claims 1-5, characterized in that, After determining the theoretical offset of the laser to be corrected based on the incident angle of the laser, the method further includes: The laser to be calibrated is identified as the target test laser. Multiple frames of two-dimensional images of the target space containing the target test laser spot are acquired within a preset time period. Image processing is performed on each frame of the target space two-dimensional image to obtain the target two-dimensional coordinates of the center of the target test laser spot on the target plane under different environmental times. A new laser deflection mathematical model is established in a black box environment based on the original incident angle of the target test laser and the two-dimensional coordinates of the target. The refractive index environmental factors corresponding to infinitely many air layers and the angular function refractive index environmental factors corresponding to infinitely many air layers are determined through the new laser deflection mathematical model. The theoretical offset generated by the laser deflection mathematical model is then verified based on the new laser deflection mathematical model to determine the model's adaptability to the environment.

7. A laser deflection correction device for arbitrary spectral bands based on an environmental black box space, characterized in that, The method for implementing the arbitrary spectral band laser deflection correction method based on environmental black box space according to any one of claims 1-6 includes: The laser emitting end is used to emit test lasers onto the target plane; The target plane is arranged parallel to the emitting component of the laser emitting end; A laser receiver is used to capture a two-dimensional image of the light spot on the target plane. The processing module is used to acquire multiple frames of spatial two-dimensional images containing the test laser spot within a preset time period, and to perform image processing on each frame of the spatial two-dimensional image to obtain the two-dimensional coordinates of the test laser spot center on the target plane under different environmental times; to establish a laser deflection mathematical model under a black box environment space based on the original laser incident angle and the two-dimensional coordinates, and to determine the refractive index environmental factors corresponding to infinitely many air layers and the angular function refractive index environmental factors corresponding to the infinitely many air layers through the laser deflection mathematical model; and to determine the theoretical offset of the laser to be corrected based on the laser incident angle of the laser to be corrected in the laser deflection mathematical model. The correction module is used to apply the theoretical offset to the laser to be corrected according to the offset direction, so as to complete the laser deflection correction.

8. A terminal, characterized in that, The terminal includes a memory and one or more processors; the memory stores one or more programs; the programs include methods for executing arbitrary spectral laser deflection correction methods based on environmental black-box space as described in any one of claims 1 to 6; the processors are used to execute the programs.

9. A computer-readable storage medium storing a plurality of instructions thereon, characterized in that, The instructions are loaded and executed by the processor to implement the arbitrary spectral laser deflection correction method based on environmental black box space as described in any one of claims 1 to 6.

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