Bionic compound eye structure type full airspace optical quantum transceiver and positioning method thereof

Abstract

This invention discloses a biomimetic compound eye structure-based all-space optical quantum transceiver and its positioning method. The device includes a hemispherical shell, multiple through holes on the surface of the hemispherical shell, and microlens assemblies installed in each through hole, forming a biomimetic compound eye optical array. The method involves: placing at least four transceivers at known spatial locations as transmitting base stations; placing at least one transceiver on the belly of a target UAV as a receiving base station; each transmitting base station emitting laser signals, and the receiving base station receiving laser signals from different spatial directions; a photoelectric detection module in the receiving base station detecting optical signals of various wavelengths, correlating the arrival times of different transmitting base stations to obtain the receiving time difference between each transmitting base station, and then calculating the position of the target UAV. This invention enables omnidirectional optical coverage, multi-base station signal differentiation, and high-precision three-dimensional positioning of a space vehicle.

Description

Technical Field

[0001] This invention relates to the fields of laser remote sensing and three-dimensional positioning technology, and in particular to a biomimetic compound eye structure full-space optical quantum transceiver device and its positioning method. Background Technology

[0002] With the development of laser communication, space optical signal detection and optical positioning technologies, laser signals, due to their advantages such as strong directionality and high ranging accuracy, are widely used in free space communication, high-precision positioning, unmanned system navigation and photoelectric detection.

[0003] In existing technologies, laser signal emission typically employs a single optical aperture or a small number of directional optical units, emitting from a fixed direction, or adjusting the emission direction using mechanisms such as mechanical turntables, pan-tilt units, and galvanometers to expand signal coverage. However, these solutions generally suffer from the following limitations: using a single aperture or a small number of directional units results in limited laser signal coverage, making it difficult to achieve wide-area, especially all-space, signal coverage; while mechanical scanning structures can expand coverage, they lead to complex device structures, increased size, limited response speed, and poor long-term stability and reliability. Furthermore, in multi-base station or multi-signal source application scenarios, existing laser emission solutions lack the ability to distinguish signals from different sources, easily leading to signal aliasing and identification difficulties.

[0004] In laser reception, existing technologies typically employ a single receiving lens or multiple discrete receiving units to expand the receiving field of view. However, these technologies still suffer from limitations such as a limited field of view, significant edge distortion, or low structural integration. Furthermore, they struggle to simultaneously achieve wide-range reception and effective differentiation of signals from different wavelengths. On one hand, the field of view or effective detection range of the receiving structure is often limited, especially in scenarios with uncertain spatial orientation or significant changes in signal direction. This can easily lead to blind spots or a significant decrease in receiving efficiency, thus affecting the stable detection of laser signals. On the other hand, in applications where multiple base stations or multiple signal sources operate simultaneously, the receiver needs to differentiate and identify laser signals from different sources. Existing receiving structures typically lack effective wavelength division, splitting, and parallel detection capabilities, resulting in easy aliasing of multi-source signals and weak differentiation capabilities. This, in turn, affects subsequent time feature extraction, time difference of arrival calculation, and positioning accuracy.

[0005] Based on the above background, it is necessary to provide a new optical device structure to solve the technical problems in the existing technology, such as insufficient coverage of laser signal transmission and reception, limited receiving field of view, weak ability to distinguish multi-source signals, and difficulty in extracting high-precision time information. Summary of the Invention

[0006] The purpose of this invention is to provide a biomimetic compound eye structure full-space optical quantum transceiver device and its positioning method. The device achieves wide-area coverage of laser signals in space by combining a hemispherical porous structure with a microlens array, and achieves effective differentiation of signals from multiple base stations through a multi-wavelength group transmission and beam splitting reception mechanism, thereby supporting high-precision three-dimensional positioning of UAVs.

[0007] The technical solution to achieve the purpose of this invention is: a biomimetic compound eye structure full-space optical quantum transceiver device, comprising a hemispherical shell, a plurality of through holes disposed on the surface of the hemispherical shell, and microlens assemblies respectively installed in each through hole;

[0008] The multiple through holes are arranged in an array along the curved surface of the hemispherical shell, so that the microlens assembly forms a biomimetic compound eye optical array, which can cover light signals in multiple directions within the hemispherical space; in the biomimetic compound eye optical array, the through holes are marked with different colors to distinguish the different wavelengths of the emitted or received laser signals.

[0009] The transceiver device is configured as a laser signal transmitter or a quantum optical signal receiver according to application requirements, and performs only the transmitting or receiving function at any given time, as detailed below:

[0010] When configured as a laser signal emitting device, the hemispherical shell encapsulates a filter and an optical fiber splitter. The microlens assembly is connected to an external laser source to emit laser signals in different spatial directions.

[0011] When configured as a quantum optical signal receiving device, a light signal receiving module is encapsulated inside the hemispherical shell, and the microlens assembly is connected to the light signal receiving module to receive laser signals from different spatial directions.

[0012] Furthermore, the surface of the hemispherical shell is provided with 48 through holes, divided into 4 groups, each group including 12 through holes, and different groups correspond to optical signal channels of different wavelengths; the 48 through holes are distributed on the hemispherical curved surface at preset angular intervals, and the included angle between any adjacent through holes in each group is not greater than the field of view of the microlens assembly, so as to ensure continuous spatial coverage of the group; a microlens assembly is set in each through hole, thereby forming a 48-channel biomimetic compound eye optical array.

[0013] Furthermore, the optical axes of each microlens assembly point to different spatial directions, and the single-channel field of view corresponding to each microlens assembly is 30°. The spatial angle between adjacent channels is less than or equal to the single-channel field of view, so that the field of view of each channel is spliced ​​together by spatial angle to form continuous coverage. Finally, the biomimetic compound eye optical array achieves 360° coverage in the horizontal direction and 180° coverage in the vertical direction.

[0014] Furthermore, the microlens assembly has a diameter of 5 mm and an effective focal length of 4.5 mm. It is connected to an optical fiber via an FC / PC interface. The cross-section of the optical fiber is located at the focal point of the corresponding microlens assembly, and the focal point position is axially adjustable by adjusting the lens mounting nut.

[0015] Furthermore, when the transceiver is configured as a laser signal transmitting device, the four laser signal transmitting devices together with the supercontinuum laser and the laser beam splitter constitute a transmitting system; each laser signal transmitting device internally encapsulates a filter and a 1 to 12 fiber optic splitter.

[0016] The 48 microlens assemblies on the surface of the laser signal emitting device are divided into 4 groups of emitting units. Each group of emitting units includes 12 microlens assemblies. Each laser signal emitting device uses only one group of emitting units. The laser signals corresponding to each laser signal emitting device have different center wavelengths or bands, so that the light signals emitted by different laser signal emitting devices have different wavelength characteristics. The receiving end distinguishes different laser signal emitting devices, different emitting units, or different signal sources by identifying the wavelength characteristics of the received light signals.

[0017] Furthermore, the process by which the laser signal transmitting device transmits laser signals is as follows:

[0018] The optical signal output by the supercontinuum laser is split into four optical signals by the laser beam splitter. Each optical signal is wavelength-selected by a filter of the corresponding laser signal emitting device to form four optical signals with different center wavelengths. Each filtered optical signal is coupled into a 1 to 12 fiber optic splitter, which splits each optical signal into twelve sub-optical signals. The twelve sub-optical signals are transmitted through optical fibers to corresponding through-holes, and finally emitted into free space by microlens assemblies in the through-holes, realizing multi-directional laser signal emission.

[0019] Furthermore, when the transceiver is configured as a quantum optical signal receiving device, the hemispherical shell encapsulates a light signal receiving module consisting of a beam splitter that divides the light into four and a photoelectric detection module; all 48 microlens assemblies participate in the operation in the receiving mode and are divided into 4 groups of receiving units, each group including 12 microlens assemblies, with different receiving units corresponding to different wavelength bands of optical signals.

[0020] Furthermore, the process of the optical quantum signal receiving device receiving signals is as follows:

[0021] The microlens assembly receives optical signals from different spatial directions and transmits the received optical signals to the 1-to-4 beam splitter via optical fiber; the 1-to-4 beam splitter divides the received optical signals into four optical signals, which are then transmitted to the photoelectric detection module for detection and processing.

[0022] The photoelectric detection module includes four filters for different wavelength bands, four APD detectors, and a digital processing circuit. Each filter corresponds to a different wavelength range and is used to select the wavelength of the input optical signal. The corresponding APD detector completes the photoelectric conversion. The digital processing circuit is used to process the signals of each channel to realize the reception and identification of optical signals with different spatial directions and different wavelengths.

[0023] A positioning method based on the aforementioned biomimetic compound eye structure full-space optical quantum transceiver is as follows:

[0024] At least four of the transceivers are configured as laser signal transmitters and are respectively set up at known spatial locations as transmitting base stations;

[0025] At least one of the transceivers is configured as a quantum optical signal receiver and is placed on the belly of the target UAV as a receiving base station;

[0026] Each transmitting base station transmits laser signals of different wavelengths, and the receiving base station receives laser signals from different spatial directions through a biomimetic compound eye optical array;

[0027] The photoelectric detection module in the receiving base station detects optical signals of each band and extracts the arrival time information of each laser signal. It performs correlation calculation on the arrival times corresponding to different transmitting base stations to obtain the receiving time difference of each transmitting base station. Based on the receiving time difference and the spatial location information of each transmitting base station, it calculates the three-dimensional location information of the receiving base station, i.e., the location of the target UAV.

[0028] Furthermore, the calculation of the three-dimensional position information of the receiving base station based on the receiving time difference and the spatial location information of each transmitting base station is as follows:

[0029] Let the first The arrival time of the optical signal from each transmitting base station is Then the time difference of arrival of optical signals between each transmitting base station is , Therefore, the distance difference equations for each band are constructed:

[0030]

[0031] in, It is the speed of light, and ; and Indicates different wavelengths of laser signal from the first... , The propagation distance from the transmitting base station to the receiving base station is the target drone's distance.

[0032] Assume the locations of the four base stations are The location of the target drone is ,but Represented as:

[0033]

[0034] A system of equations consisting of multiple distance difference equations is constructed, and numerical methods such as the least squares method are applied to solve the system of equations, thereby determining the three-dimensional coordinate position of the target UAV. .

[0035] Compared with the prior art, the significant advantages of this invention are:

[0036] (1) By constructing a biomimetic compound eye microlens array structure on the surface of a hemispherical shell, the optical axes of multiple microlens components are directed in different spatial directions and continuous coverage is formed by splicing the field of view, thereby achieving full-space optical coverage capability of 360° horizontally and 180° vertically.

[0037] (2) The multi-microlens channel structure enables parallel transmission and reception of laser signals in multiple directions, which improves the spatial coverage and signal acquisition efficiency of the system.

[0038] (3) By combining multi-wavelength group transmission and beam splitting reception mechanisms, laser signals from different base stations or different transmitting units can be distinguished by wavelength, thereby improving the system's ability to identify multiple signal sources and its anti-interference capability.

[0039] (4) It can provide stable and reliable space laser signal reference for mobile platforms such as UAVs and submarines, and realize high-precision three-dimensional positioning. Attached Figure Description

[0040] Figure 1 A three-dimensional model of the hemispherical shell in a biomimetic compound eye structured full-space optical quantum transceiver.

[0041] Figure 2 This is a schematic diagram of the three-dimensional positioning of a drone based on a biomimetic compound eye structure full-space optical quantum transceiver device.

[0042] Figure 3 This is a diagram showing the two-dimensional positioning results based on a supercontinuum laser source. Detailed Implementation

[0043] It is readily understood that, based on the technical solution of this invention, those skilled in the art can conceive of various embodiments of this invention without altering its essential spirit. Therefore, the following specific embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of this invention or as limitations or restrictions on its technical solution.

[0044] The present invention provides a biomimetic compound eye structure full-space optical quantum transceiver device, comprising a hemispherical shell, a plurality of through holes disposed on the surface of the hemispherical shell, and microlens assemblies respectively installed in each through hole;

[0045] The multiple through holes are arranged in an array along the curved surface of the hemispherical shell, so that the microlens assembly forms a biomimetic compound eye optical array, which can cover light signals in multiple directions within the hemispherical space. In the biomimetic compound eye optical array, the through holes are marked with different colors to distinguish the different wavelengths of the emitted or received laser signals. Through holes of different colors correspond to laser signal channels of different wavelengths, and through holes of the same color emit or receive laser signals of the same wavelength.

[0046] The transceiver device is configured as a laser signal transmitter or a quantum optical signal receiver according to application requirements, and performs only the transmitting or receiving function at any given time, as detailed below:

[0047] When configured as a laser signal emitting device, the hemispherical shell encapsulates a filter and an optical fiber splitter. The microlens assembly is connected to an external laser source to emit laser signals in different spatial directions, thereby achieving multi-directional laser signal spatial coverage.

[0048] When configured as a quantum optical signal receiving device, a light signal receiving module is encapsulated inside the hemispherical shell. The microlens assembly is connected to the light signal receiving module to receive laser signals from different spatial directions and transmit the received light signals to the light signal receiving module for processing.

[0049] As a specific example, the surface of the hemispherical shell is provided with 48 through holes, divided into 4 groups, each group including 12 through holes, and different groups correspond to optical signal channels of different wavelengths; the 48 through holes are distributed on the hemispherical curved surface at preset angular intervals, and the included angle between any adjacent through holes in each group is not greater than the field of view of the microlens assembly, so as to ensure the continuous spatial coverage of the channel in that group; a microlens assembly is set in each through hole, thereby forming a 48-channel biomimetic compound eye optical array.

[0050] As a specific example, the optical axes of each microlens assembly point to different spatial directions, and the single-channel field of view corresponding to each microlens assembly is 30°. The spatial angle between adjacent channels is less than or equal to the single-channel field of view, so that the field of view of each channel is spliced ​​together by spatial angle to form continuous coverage. Finally, the biomimetic compound eye optical array achieves 360° coverage in the horizontal direction and 180° coverage in the vertical direction, realizing the ability to receive or transmit light signals in multiple directions within the hemispherical space.

[0051] As a specific example, the microlens assembly has a diameter of 5 mm, an effective focal length of 4.5 mm, and is connected to an optical fiber via an FC / PC interface. The cross-section of the optical fiber is located at the focal point of the corresponding microlens assembly, and the focal point position is axially adjustable by adjusting the lens mounting nut.

[0052] As a specific example, when the transceiver is configured as a laser signal transmitting device, the four laser signal transmitting devices together with the supercontinuum laser and the laser beam splitter constitute a transmitting system; each laser signal transmitting device internally encapsulates a filter and a 1 to 12 fiber optic splitter;

[0053] The 48 microlens assemblies on the surface of the laser signal emitting device are divided into 4 groups of emitting units. Each group of emitting units includes 12 microlens assemblies. Each laser signal emitting device uses only one group of emitting units. The laser signals corresponding to each laser signal emitting device have different center wavelengths or bands, so that the light signals emitted by different laser signal emitting devices have different wavelength characteristics. The receiving end distinguishes different laser signal emitting devices, different emitting units, or different signal sources by identifying the wavelength characteristics of the received light signals.

[0054] The process of the laser signal transmitting device transmitting laser signals is as follows:

[0055] The optical signal output from the supercontinuum laser is split into four optical signals by the laser beam splitter. Each optical signal is wavelength-selected by a filter of its corresponding laser signal emitting device to form four optical signals with different center wavelengths, which are then input to their respective laser signal emitting devices. Since the system has four laser signal emitting devices, four filters with different center wavelengths are configured to ensure that the laser signals output by each laser signal emitting device have different wavelength characteristics. Within each laser signal emitting device, each filtered optical signal is coupled into a 1-to-12 fiber optic splitter, splitting each optical signal into twelve sub-optical signals. The twelve sub-optical signals are transmitted through optical fibers to corresponding through-holes, and finally, the microlens assemblies within the through-holes emit the optical signals into free space, achieving multi-directional laser signal emission.

[0056] As a specific example, when the transceiver is configured as a quantum optical signal receiving device, the hemispherical shell encapsulates a light signal receiving module consisting of a beam splitter that divides the light into four and a photoelectric detection module; all 48 microlens assemblies participate in the operation in the receiving mode and are divided into 4 groups of receiving units, each group including 12 microlens assemblies, with different receiving units corresponding to different wavelength bands of optical signals.

[0057] The process of the optical quantum signal receiving device receiving signals is as follows:

[0058] The microlens assembly receives optical signals from different spatial directions and transmits the received optical signals to the 1-to-4 beam splitter via optical fiber; the 1-to-4 beam splitter divides the received optical signals into four parallel optical signals, which are then transmitted to the photoelectric detection module for detection and processing.

[0059] The photoelectric detection module includes four filters for different wavelength bands, four APD detectors, and a digital processing circuit. Each filter corresponds to a different wavelength range and is used to select the wavelength of the input optical signal. The corresponding APD detector completes the photoelectric conversion. The digital processing circuit is used to process the signals of each channel to realize the reception and identification of optical signals with different spatial directions and different wavelengths.

[0060] The present invention also provides a positioning method based on the aforementioned biomimetic compound eye structure full-space optical quantum transceiver device, specifically as follows:

[0061] At least four of the transceivers are configured as laser signal transmitters and are respectively set up at known spatial locations as transmitting base stations;

[0062] At least one of the transceivers is configured as a quantum optical signal receiver and is placed on the belly of the target UAV as a receiving base station;

[0063] Each transmitting base station transmits laser signals of different wavelengths, and the receiving base station receives laser signals from different spatial directions through a biomimetic compound eye optical array;

[0064] The photoelectric detection module in the receiving base station detects optical signals of each band and extracts the arrival time information of each laser signal. It performs correlation calculation on the arrival times corresponding to different transmitting base stations to obtain the receiving time difference of each transmitting base station. Based on the receiving time difference and the spatial location information of each transmitting base station, it calculates the three-dimensional location information of the receiving base station, i.e., the location of the target UAV.

[0065] As a specific example, the calculation of the three-dimensional position information of the receiving base station based on the receiving time difference and the spatial location information of each transmitting base station is as follows:

[0066] Let the first The arrival time of the optical signal from each transmitting base station is Then the time difference of arrival of optical signals between each transmitting base station is , Therefore, the distance difference equations for each band are constructed:

[0067]

[0068] in, It is the speed of light, and ; and Indicates different wavelengths of laser signal from the first... , The propagation distance from the transmitting base station to the receiving base station is the target drone's distance.

[0069] Assume the locations of the four base stations are The location of the target drone is ,but Represented as:

[0070]

[0071] A system of equations consisting of multiple distance difference equations is constructed, and numerical methods such as the least squares method are applied to solve the system of equations, thereby determining the three-dimensional coordinate position of the target UAV. .

[0072] This invention constructs a porous array structure on the surface of a hemispherical shell and installs multiple microlens assemblies to form a compound-eye optical array. This enables full-space transmission and reception of multi-directional optical signals within the hemispherical spatial range, improving the system's spatial coverage capability. Simultaneously, this invention achieves effective differentiation of different signal sources through multi-wavelength group transmission and beam splitting reception, thereby supporting three-dimensional positioning of space targets. It should be noted that the compound-eye structure device described in this invention can be configured as a laser signal transmitter or a quantum signal receiver according to specific application requirements. In actual operation, the device performs only one of the transmission or reception functions at any given time.

[0073] This invention enables omnidirectional optical coverage, multi-base station signal differentiation, and high-precision three-dimensional positioning of space carriers, and is suitable for precise navigation and positioning systems of mobile platforms such as UAVs and submarines.

[0074] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0075] Example

[0076] This embodiment provides a biomimetic compound eye structure-based all-space optical quantum transceiver, such as Figure 1 As shown, the surface of the hemispherical shell has 48 through holes, which are distributed at preset angular intervals on the surface of the hemispherical shell. Each through hole contains a microlens assembly, thereby forming a 48-channel compound eye optical array. The single-channel field of view of each microlens assembly is 30°, and the optical axis of each microlens assembly points to different spatial directions. Adjacent channels are spliced ​​together by spatial angles to form a continuous field of view covering the external space, enabling the device to achieve omnidirectional optical coverage, with a horizontal coverage range of 360° and a vertical coverage range of 180°.

[0077] like Figure 2 As shown, when the transceiver operates in the first mode, it is used as a laser signal transmitting device. The transmitting system includes a supercontinuum laser, a laser beam splitter, and four transmitting base stations. Each transmitting base station is constructed using the hemispherical shell structure described above, and internally encapsulates a filter and a 1 / 12 fiber optic splitter, which is connected to a microlens assembly to transmit the laser signal in different spatial directions. Specifically, the optical signal output from the supercontinuum laser is first split into four optical signals by the laser beam splitter. Each optical signal is then filtered for wavelength or band selection, forming four laser signals with different center wavelengths. The wavelengths of each signal are as follows: , , , The input optical signal is then fed into the corresponding transmitting base station. Within each transmitting base station, the input optical signal is further coupled into a 1-to-12 fiber optic splitter, splitting the single input optical signal into twelve sub-optical signals, which are then transmitted via optical fiber to their respective microlens assemblies. The 48 microlens assemblies are divided into four groups of transmitting units, each group comprising 12 microlens assemblies. Each base station uses one group of transmitting units. Each group of transmitting units emits laser signals of different wavelengths, thereby achieving multi-directional laser signal transmission and hemispherical spatial coverage. By using different wavelengths of laser signals, different signal sources, different base stations, different transmission areas, or different transmission channels can be identified, facilitating signal source differentiation and identification at the receiving end.

[0078] like Figure 2As shown, when the device operates in the second mode, it is used as a quantum optical signal receiving device. The receiving system includes one receiving base station, which is constructed with a hemispherical shell structure and internally encapsulates a one-to-four optical splitter and a photoelectric detection module. All 48 microlens assemblies on the surface of the device participate in the operation in receiving mode and are divided into four receiving units, each group containing 12 microlens assemblies. Different receiving units correspond to different wavelength bands of optical signals. Specifically, each microlens assembly receives incident laser signals from different spatial directions and transmits the received optical signals to the splitter via optical fiber coupling. The splitter separates the received optical signals into four parallel optical signals, which are then transmitted to the corresponding photoelectric detection modules for detection, thereby achieving wavelength-band reception and detection of laser signals of different wavelengths. The photoelectric detection module includes four filters for different wavelength bands, four APD detectors, and a digital processing circuit. Each filter corresponds to a different wavelength range and is used to select the wavelength of the input optical signal, with the corresponding APD detector performing photoelectric conversion. The digital processing circuit is used to synchronously process and correlate the signals from each channel to achieve the reception and identification of optical signals from different spatial directions and wavelengths. The distribution of through holes on the surface of the hemispherical shell corresponds to the wavelength division of the optical signal, and the microlens assemblies with different colors correspond to the reception of photonic quantum signals in different wavelength ranges. Through this structure, each microlens assembly can converge and transmit laser signals from different spatial directions. After being separated by the beam splitter, the signals are detected by the corresponding photoelectric detection module, thereby achieving effective reception and identification of multi-wavelength laser signals.

[0079] In this embodiment, at least four of the aforementioned bionic compound eye structures are configured as laser signal transmitting base stations and respectively located in known spatial positions. Simultaneously, at least one of the aforementioned bionic compound eye structures is configured as a laser signal receiving base station and installed on a UAV platform, thereby enabling three-dimensional positioning of the UAV. Each transmitting base station emits laser signals of different wavelengths, and the receiving base station receives laser signals from different spatial directions through its compound eye optical array. The photoelectric detection branch detects the laser signals of each wavelength and obtains the corresponding arrival time information. Let the first... The arrival time of the laser signals from each base station is The time difference of arrival between the signals of each base station is , Therefore, a distance relationship equation can be constructed:

[0080]

[0081] in, For the speed of light, take a constant value. ; and This represents the propagation distance of laser signals of different wavelengths from the base station to the target drone. If the spatial locations of the four transmitting base stations are respectively... The location of the drone is ,but:

[0082]

[0083] The above distance equations can be used to construct a system of equations consisting of multiple equations. This system of equations can then be solved using numerical methods such as the least squares method, thereby determining the three-dimensional spatial position of the target UAV.

[0084] To verify the effectiveness of the biomimetic compound eye structure-based all-space optical quantum transceiver proposed in this invention, this embodiment constructed a positioning experimental system based on a supercontinuum laser source and conducted preliminary two-dimensional positioning experiments. In this experimental system, an Anyang SC-5 supercontinuum laser was used as the light source, with an operating wavelength range of 400nm~2500nm and a repetition frequency of 2 MHz, providing a wide-spectrum, highly stable laser output. The receiving end used the biomimetic compound eye structure designed in this invention as the laser signal receiving device to achieve multi-directional, multi-channel optical signal acquisition. During the experiment, three different wavelengths of laser light were selected to illuminate the compound eye structure. Target positioning was achieved by extracting the time difference relationship between the received signals of each channel and combining it with the time difference of arrival positioning method. Simultaneously, quantum correlation analysis was introduced to enhance signal correlation and improve positioning accuracy. Experimental results show that the positioning error obtained based on the above method is approximately 0.28m. Figure 3 As shown, the feasibility and effectiveness of the device of the present invention in full-space laser signal detection and positioning have been verified, and it has initially acquired the positioning capability for practical application.

[0085] In summary, this invention constructs a biomimetic compound eye-like microlens array structure on the surface of a hemispherical shell, enabling the optical axes of multiple microlens components to point in different spatial directions and forming continuous coverage through field-of-view stitching, thereby achieving full-space optical coverage capability of 360° horizontally and 180° vertically. Simultaneously, the multi-microlens channel structure enables parallel transmission and reception of laser signals in multiple directions, improving the system's spatial coverage capability and signal acquisition efficiency. Furthermore, by combining a multi-wavelength group transmission and beam splitting reception mechanism, laser signals from different base stations or different transmitting units can be distinguished by wavelength, thereby enhancing the system's ability to identify multiple signal sources and its anti-interference capability. This provides a stable and reliable spatial laser signal reference for mobile platforms such as UAVs and underwater vehicles, achieving high-precision three-dimensional positioning.

[0086] It should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the scope of the present invention. Several improvements and refinements can be made without departing from the principle of the invention, and these improvements and refinements should also be considered within the scope of protection of the present invention.

Claims

1. A biomimetic compound eye structure-based all-space optical quantum transceiver, characterized in that, It includes a hemispherical shell, a plurality of through holes disposed on the surface of the hemispherical shell, and microlens assemblies respectively installed in each through hole; The multiple through holes are arranged in an array along the curved surface of the hemispherical shell, so that the microlens assembly forms a biomimetic compound eye optical array, which can cover light signals in multiple directions within the hemispherical space; in the biomimetic compound eye optical array, the through holes are marked with different colors to distinguish the different wavelengths of the emitted or received laser signals. The transceiver device is configured as a laser signal transmitter or a quantum optical signal receiver according to application requirements, and performs only the transmitting or receiving function at any given time, as detailed below: When configured as a laser signal emitting device, the hemispherical shell encapsulates a filter and an optical fiber splitter. The microlens assembly is connected to an external laser source to emit laser signals in different spatial directions. When configured as a quantum optical signal receiving device, a light signal receiving module is encapsulated inside the hemispherical shell, and the microlens assembly is connected to the light signal receiving module to receive laser signals from different spatial directions; When the transceiver is configured as a laser signal transmitting device, the four laser signal transmitting devices together with the supercontinuum laser and the laser beam splitter constitute a transmitting system; each laser signal transmitting device is internally encapsulated with a filter and a 1 to 12 fiber optic splitter; The 48 microlens assemblies on the surface of the laser signal emitting device are divided into 4 groups of emitting units. Each group of emitting units includes 12 microlens assemblies, and each laser signal emitting device uses only one group of emitting units. The laser signals corresponding to each laser signal emitting device have different center wavelengths or bands, so that the light signals emitted by different laser signal emitting devices have different wavelength characteristics. The receiving end distinguishes different laser signal emitting devices, different emitting units, or different signal sources by identifying the wavelength characteristics of the received light signals. The process of the optical quantum signal receiving device receiving signals is as follows: The microlens assembly receives optical signals from different spatial directions and transmits the received optical signals through optical fiber to a 1-to-4 beam splitter; the 1-to-4 beam splitter divides the received optical signals into four optical signals, which are then transmitted to the photoelectric detection module for detection and processing. The photoelectric detection module includes four filters for different wavelength bands, four APD detectors, and a digital processing circuit. Each filter corresponds to a different wavelength range and is used to select the wavelength of the input optical signal. The corresponding APD detector completes the photoelectric conversion. The digital processing circuit is used to process the signals of each channel to realize the reception and identification of optical signals with different spatial directions and different wavelengths.

2. The biomimetic compound eye structure full-space optical quantum transceiver device according to claim 1, characterized in that, The surface of the hemispherical shell is provided with 48 through holes, divided into 4 groups, each group including 12 through holes, and different groups correspond to optical signal channels of different wavelengths; the 48 through holes are distributed on the hemispherical curved surface at preset angular intervals, and the included angle between any adjacent through holes in each group is not greater than the field of view of the microlens assembly, so as to ensure continuous spatial coverage of the group; a microlens assembly is set in each through hole, thereby forming a 48-channel bionic compound eye optical array.

3. The biomimetic compound eye structure full-space optical quantum transceiver device according to claim 2, characterized in that, The optical axes of each microlens assembly point to different spatial directions. The single-channel field of view of each microlens assembly is 30°. The spatial angle between adjacent channels is less than or equal to the single-channel field of view, so that the field of view of each channel is spliced ​​together by spatial angle to form continuous coverage. Finally, the biomimetic compound eye optical array achieves 360° coverage in the horizontal direction and 180° coverage in the vertical direction.

4. The biomimetic compound eye structure full-space optical quantum transceiver device according to claim 3, characterized in that, The microlens assembly has a diameter of 5 mm and an effective focal length of 4.5 mm. It is connected to an optical fiber via an FC / PC interface. The cross-section of the optical fiber is located at the focal point of the corresponding microlens assembly, and the focal point position is axially adjustable by adjusting the lens mounting nut.

5. The biomimetic compound eye structure full-space optical quantum transceiver device according to claim 4, characterized in that, The process of the laser signal transmitting device transmitting laser signals is as follows: The optical signal output by the supercontinuum laser is split into four optical signals by the laser beam splitter. Each optical signal is wavelength-selected by a filter of the corresponding laser signal emitting device to form four optical signals with different center wavelengths. Each filtered optical signal is coupled into a 1 to 12 fiber optic splitter, which splits each optical signal into twelve sub-optical signals. The twelve sub-optical signals are transmitted through optical fibers to corresponding through-holes, and finally emitted into free space by microlens assemblies in the through-holes, realizing multi-directional laser signal emission.

6. The biomimetic compound eye structure full-space optical quantum transceiver device according to claim 4, characterized in that, When the transceiver is configured as a quantum optical signal receiver, the hemispherical housing encapsulates a light signal receiving module consisting of a beam splitter that divides the light into four and a photoelectric detection module. All 48 microlens assemblies are engaged in the receiving mode and are divided into 4 receiving units, each of which includes 12 microlens assemblies. Different receiving units correspond to different wavelength bands of optical signals.

7. A positioning method for a biomimetic compound eye structure-based full-space optical quantum transceiver, characterized in that, This method uses a biomimetic compound eye structure full-space optical quantum transceiver as described in any one of claims 1 to 6, and the positioning method is as follows: At least four of the transceivers are configured as laser signal transmitters and are respectively set up at known spatial locations as transmitting base stations; At least one of the transceivers is configured as a quantum optical signal receiver and is placed on the belly of the target UAV as a receiving base station; Each transmitting base station transmits laser signals of different wavelengths, and the receiving base station receives laser signals from different spatial directions through a biomimetic compound eye optical array; The photoelectric detection module in the receiving base station detects optical signals of each band and extracts the arrival time information of each laser signal. It performs correlation calculation on the arrival times corresponding to different transmitting base stations to obtain the receiving time difference of each transmitting base station. Based on the receiving time difference and the spatial location information of each transmitting base station, it calculates the three-dimensional location information of the receiving base station, i.e., the location of the target UAV.

8. The positioning method of the biomimetic compound eye structure full-space optical quantum transceiver device according to claim 7, characterized in that, The three-dimensional position information of the receiving base station is calculated based on the receiving time difference and the spatial position information of each transmitting base station, as follows: Let the first The arrival time of the optical signal from each transmitting base station is Then the time difference of arrival of optical signals between each transmitting base station is , Therefore, the distance difference equations for each band are constructed: in, It is the speed of light, and ; and This indicates that different wavelengths of laser signals originate from the first... , The propagation distance from the transmitting base station to the receiving base station is the target drone's distance. Assume the locations of the four base stations are The location of the target drone is ,but Represented as: A system of equations consisting of multiple distance difference equations is constructed, and numerical methods such as the least squares method are applied to solve the system of equations, thereby determining the three-dimensional coordinate position of the target UAV. .

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