A high real-time unified control system and method based on heterogeneous dual-telescopes

Abstract

The application discloses a kind of high real-time unified control system and method based on heterogeneous dual-telescope, the system includes a centralized observation control system OCS, OCS simultaneously directly controls transmitting telescope subsystem and receiving telescope subsystem;OCS inside maintains a unified memory area, for simultaneously storing transmitting and receiving telescope control data, state data and environmental data;OCS is based on the data in unified memory area, generates transmitting and receiving instruction in the same process space through multithreading parallel, and gives the same time stamp for two-way instruction;OCS simultaneously issues two-way instruction to transmitting and receiving telescope subsystem through message bus, realizes the millisecond-level synchronous driving of dual-telescope.The application shortens the response time of transceiving linkage to millisecond level, eliminates cross-machine communication disturbance, reduces computing node redundancy, greatly improves the operation and maintenance efficiency and reliability of observation station under the premise of guaranteeing the safety of high-energy laser emission.

Description

Technical Field

[0001] This invention relates to the field of astronomical telescope control technology, specifically to a dual-telescope transceiver collaborative control architecture and method based on a unified observation and control system (OCS), and more particularly to a high real-time unified control system and method based on heterogeneous dual telescopes. Background Technology

[0002] Traditional observation and control systems often employ a "one-to-one" architecture, where each physical telescope is equipped with its own independent observation and control system. However, with increasing mission complexity, such as high-orbit satellite measurements, laser ranging, satellite laser communication, and bistatic space debris radar detection, the special requirement of a "one-transmitter-one-receiver" system has emerged. For example, in the Ground-Based Optical Telescope (LROT) system project, a 2.5-meter aperture optical telescope serves as the primary receiving telescope, while a 0.6-meter aperture telescope acts as the transmitting telescope, with a horizontal distance of 20 meters between the two telescopes. The LROT system can conduct astronomical observations independently, and with the right laser and receiving terminal, it can measure high-orbit satellite distances and Earth-Moon distances. Laser ranging operates in two modes: self-transmitting and self-receiving, and separate transmitting and receiving. Self-transmitting and self-receiving is used for high-orbit satellite measurements, while separate transmitting and receiving can be used for high-orbit satellite and Earth-Moon distance measurements. It is evident that collaborative observations between multiple telescopes are becoming increasingly frequent, and existing technologies are gradually becoming insufficient to meet these requirements.

[0003] In traditional distributed architectures, the interaction between the receiver and transmitter relies on cross-machine network handshakes. The processing overhead of the network protocol stack and network jitter caused by switches lead to communication delays between different control systems. This results in significant lag between transmission commands and reception feedback when dealing with high-speed, dynamic targets such as low-Earth orbit satellites, making it difficult to achieve sub-arcsecond pointing accuracy. Since each OCS operates within an independent hardware environment and clock cycle, even with network time synchronization (such as NTP), microsecond-level clock drift still exists between systems. Furthermore, each system independently performs orbit extrapolation and coordinate calculations, making it difficult to eliminate geometric parallax and optical travel time difference between transmit and receive branches in real time, thus limiting the success rate of collaborative observations. During high-frequency multi-machine interactions, the distributed architecture lacks a global resource scheduling perspective, making it prone to deadlocks caused by command conflicts between systems. Simultaneously, in emergency avoidance situations (such as an aircraft entering the laser path), delays in distributed message passing may lead to asynchronous safety actions between two telescopes, increasing the risk of equipment damage or safety accidents.

[0004] In summary, existing telescope control architectures are no longer sufficient to meet the requirements of modern high-precision laser collaborative observation in terms of collaborative accuracy, real-time response, and system reliability. Therefore, developing a centralized control architecture with high-precision alignment of the receiving and transmitting branches, low-latency linkage capabilities, and effective avoidance of concurrent conflicts has become an urgent technical problem to be solved in this field. Summary of the Invention

[0005] Objective of this invention: This invention aims to design a high real-time unified control system and method based on heterogeneous dual telescopes to solve the technical problems existing in the current distributed telescope control system, such as high cross-machine communication latency, poor spatiotemporal synchronization accuracy, and easy deadlock in concurrent control. This will enable high-precision synchronous control and flexible task distribution, and break through the bottleneck of collaborative accuracy at the arcsecond level.

[0006] Specifically, the present invention is implemented using the following technical solutions:

[0007] A high real-time unified control system based on heterogeneous dual telescopes includes:

[0008] A centralized observation and control system (OCS) that directly controls both the transmitting telescope subsystem and the receiving telescope subsystem.

[0009] The OCS maintains a unified memory area to simultaneously store control data, status data, and environmental data for both the transmitting and receiving telescopes.

[0010] Based on the data in the unified memory region, the OCS generates transmit and receive instructions in parallel through multiple threads within the same process space, and assigns the same timestamp to the two instructions.

[0011] The OCS simultaneously sends the two commands to the transmitting telescope subsystem and the receiving telescope subsystem via a message bus, achieving millisecond-level synchronous driving of the two telescopes.

[0012] Furthermore, the data in the unified memory region can be directly used for dual-mirror collaborative computing without undergoing cross-system network requests or serialization operations.

[0013] Furthermore, both the transmitting telescope subsystem and the receiving telescope subsystem are connected to the same intranet high-precision NTP server. The OCS corrects the timestamps of the two commands based on the unified time reference provided by the high-precision NTP server, eliminating clock drift.

[0014] Furthermore, the OCS receives the echo detection status of the receiving telescope subsystem in real time through the message bus, and dynamically corrects the pointing offset of the transmitting telescope within the same process based on the feedback, forming a closed-loop control.

[0015] Furthermore, the message bus is a ZeroMQ message bus, adopting a publish-subscribe mode or a request-response mode, and the round-trip delay of instructions between the OCS and the two telescope subsystems is controlled within 1 millisecond.

[0016] Furthermore, the transmitting telescope subsystem and the receiving telescope subsystem each include a telescope control system (TCS). The TCS parses the instructions from the OCS to achieve closed-loop position control, and maps the real-time position feedback to the unified memory area of ​​the OCS via a message bus.

[0017] Furthermore, the OCS also includes a heterogeneous collaborative processing unit, which generates instructions with different motion parameters to meet the asymmetric requirements of the launch and reception tasks, and issues them in parallel through the multi-threaded process.

[0018] A dual-telescope cooperative control method based on the above system includes the following steps:

[0019] Step 1: The centralized OCS simultaneously checks the status of the transmitting and receiving telescopes and locks the control resources of both telescopes.

[0020] Step 2: The OCS receives observation target information that includes the requirements for dual-mirror collaboration;

[0021] Step 3: Within the same process space, the OCS uses multithreading to encapsulate the calculated transmit and receive commands into message packets with the same timestamp, and sends them to the two telescope subsystems in parallel via the message bus;

[0022] Step 4: Based on a unified clock reference, the two telescopes synchronously point at the target, and the OCS summarizes and displays the positions of the two telescopes in real time through the message bus;

[0023] Step 5: After the OCS confirms that both telescopes have locked onto the target, it sends a permission to launch command to the laser control system via the message bus and simultaneously activates the receiver detector.

[0024] Step 6: If the receiving telescope does not detect an echo signal, the OCS will activate the search mode and correct its pointing to find the target;

[0025] Step 7: Once the receiving telescope captures a valid echo signal, it enters closed-loop precision tracking. The OCS dynamically corrects the pointing of the transmitting mirror based on the feedback from the receiver.

[0026] Step 8: During the execution of the above steps, OCS continuously monitors the device status. Once a safety threshold is triggered, it simultaneously issues commands to shut down the laser and reset the hardware.

[0027] Furthermore, in step 1, OCS adopts a resource sequence number locking mechanism to assign a unique number to all competing resources, and controls the threads to strictly apply for resource locks in ascending order of the number to avoid concurrent deadlocks.

[0028] Furthermore, the search mode in step 6 includes: the OCS gradually adjusts the azimuth and elevation deviation of the receiving telescope according to the spiral scanning path until the echo signal is received.

[0029] This invention provides a high real-time unified control system and method based on heterogeneous dual telescopes, with the following beneficial effects:

[0030] This solution breaks through the traditional dual OCS discrete control mode and adopts an innovative architecture of centralized management of two telescopes by a single OCS. It provides a unified time reference with high-precision NTP service on the intranet and realizes real-time interaction of commands and status based on the ZeroMQ message bus, thus solving the problems encountered in dual-mirror collaboration.

[0031] The OCS and both telescope systems are connected to a high-precision NTP server on the internal network to ensure clock synchronization across all nodes. When generating guidance commands, the OCS creates time-stamped high-precision tracking queues with 0.1-second intervals and sends them to the TCS systems at 2.5 meters and 0.6 meters respectively. The TCS then parses and executes these commands. This ensures that the movement of the two telescopes strictly follows the same timeline, eliminating phase differences caused by clock drift and network jitter.

[0032] As the sole control and decision-making center, the OCS simultaneously monitors the real-time status of both telescopes, enabling collaborative optimization based on global information and avoiding information silos and decision conflicts inherent in discrete OCS architectures. It also eliminates middleware unpacking and network transmission latency across OCS systems.

[0033] OCS simultaneously publishes two boot commands through the message bus. ZeroMQ's zero-copy and lock-free queue mechanism ensures that the commands arrive at the receiving ports of the two telescopes in milliseconds, with the arrival time of the two commands controlled within 1 millisecond, ensuring strict synchronization of the dual-mirror commands.

[0034] Through ZeroMQ's heartbeat mechanism, OCS monitors the health status of both telescopes in real time. If either telescope malfunctions, OCS immediately triggers collaborative protection logic, resulting in a significant leap in security compared to traditional architectures.

[0035] Significantly reduces the difficulty of system maintenance and upgrades: The complex "multi-machine collaborative logic" is simplified into "single-machine multi-object logic", which significantly reduces the fragmentation of software deployment and reduces the risk of downtime caused by software failures in large-scale sky surveys. Attached Figure Description

[0036] Figure 1This is a flowchart of the centralized OCS system architecture proposed in this invention.

[0037] Figure 2 This is the core working process proposed in this invention.

[0038] Figure 3 This invention presents an instruction execution timing diagram based on NTP synchronization.

[0039] Figure 4 This is a diagram of the telescope control system architecture proposed in this invention.

[0040] Figure 5 This is a timing diagram of the wake-up of the main scheduling thread and the two control threads. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, this section describes an embodiment of the invention, but this should not be construed as limiting the scope of protection of the invention. The invention will now be further explained and described in conjunction with the accompanying drawings.

[0042] The core working principle of this invention is centralized scheduling and parallel execution. The Observation and Control System (OCS) no longer treats the two telescopes as independent systems, but rather as two "hardware objects." All time references, control data, status data, and environmental data from both telescopes are stored in the same memory buffer, eliminating data transmission latency. The OCS is responsible for decision-making and utilizes message bus technology to achieve distributed control.

[0043] The memory buffer uses an in-heap object pool as its data structure and employs semaphores for mutual exclusion. OCS stores the status data for the 0.6-meter (transmitting telescope) and 2.5-meter (receiving telescope) telescopes separately, but maintains logical consistency through a unified timestamp. Read / write consistency is ensured by carrying `SendTime` during writes and traversing using `QHashIterator` during reads. After receiving status data, the message bus writes it to memory via callback, with timeout handling driven by events. The update frequency is determined by the message bus, and a timeout cleanup mechanism is established in the code: a timer clears timed-out or completed commands according to a preset period, preferably 60 seconds. The maximum allowed survival time (`MaxTime`) for each command is used to determine if it has timed out. `MaxTime` can be read from the database or system configuration parameters.

[0044] In this architecture, the OCS acts as the "commander-in-chief." This architecture significantly improves system coordination efficiency: the response time for transmission and reception is reduced to the millisecond level, and the success rate of acquiring highly dynamic targets is significantly improved; the system eliminates cross-machine communication disturbances, stabilizing the relative tracking accuracy at the arcsecond level (measured better than ±0.5″). Simultaneously, this scheme reduces computing node redundancy, greatly improving the operational efficiency and reliability of the observatory while ensuring the safety of high-energy laser emission, providing core technical support for the intelligent collaborative management and control of dual telescope arrays.

[0045] In one test implementation, to verify the real-time transmission capability of the message communication module, server-side and client-side routines in ZeroMQ PUB-SUB mode were written based on the Qt framework.

[0046] The messaging pattern is a one-way data distribution: the server sends update events to a group of clients. The server and client programs are started separately. The server continuously sends 1,000,000 messages, and the clients verify the message count and calculate the completion time. A total of 5 tests are performed.

[0047] The message count was verified to be correct. The time taken for each round of the 5 tests is shown in Table 3. This table proves that ZEROMQ's PUB-SUB mode (16129 messages / second) can and far exceeds LROT's workload requirements (10 messages / second).

[0048] Table 1 Test Environment and Configuration

[0049]

[0050] Table 2 Operating Environment

[0051]

[0052] Table 3 Test Results

[0053] Write server-side and client-side routines for ZeroMQ REQ-REP mode based on the Qt framework.

[0054] Start the server and client programs separately. The client continuously sends 1,000,000 messages. The server receives the messages and returns a response. Calculate the completion time and verify the number of messages. Perform a total of 10 tests.

[0055] The message count was verified to be correct. The time taken for each round of the 10 tests is shown in Table 4. This table demonstrates that ZEROMQ's REQ-REP mode (20,000 messages / second) can and far exceeds the LROT workload requirement (10 messages / second).

[0056] Table 4 Test Results

[0057]

[0058] Test data shows that the time to send and receive in a single transaction is less than 1 millisecond.

[0059] The tracking accuracy was tested using the following methods: For open-loop tracking over 60 seconds, the accuracy was calculated using code disk data or by photographing star images (excluding seeing). For closed-loop tracking over 120 minutes, the accuracy was tested by photographing star images: a random celestial region was selected, with an exposure time of 20-30 seconds, one image per minute, for a total of 120 images. Using the first image as a baseline, the drift of star images in the other images was measured, and the root mean square (RMS) value was calculated. The measured tracking accuracy with the 0.6-meter transmitting telescope was 0.42″RMS, and the measured tracking accuracy with the 2.5-meter receiving telescope was 0.072″RMS.

[0060] Centralized OCS system architecture process as follows Figure 1 As shown, it includes:

[0061] Centralized OCS (Observation and Control System): This system executes globally unique observation logic and status management, uniformly handling observation tasks and spatiotemporal reference alignment. The OCS directly controls both the transmitting and receiving telescope subsystems. Internally, the OCS maintains a unified memory area for storing control, status, and environmental data from both the transmitting and receiving telescopes. Data in this unified memory area can be directly used for collaborative computation between the two telescopes without requiring cross-system network requests or serialization. Based on the data in this unified memory area, the OCS generates transmitting and receiving commands in parallel using multiple threads within the same process space, assigning both commands the same timestamp. The OCS simultaneously sends these two commands to both the transmitting and receiving telescope subsystems via a message bus, achieving millisecond-level synchronous drive for both telescopes.

[0062] TCS (Telescope Control System): Responsible for pointing correction and attitude control. It receives commands from the centralized OCS and directly controls the hardware, such as motors, sensors, focal plane, and filters.

[0063] Heterogeneous collaborative processing unit: Deployed in the centralized OCS, it is used to generate instructions with different motion parameters for the asymmetric requirements of the transmission and reception tasks, and to send them out in parallel through the multi-threading;

[0064] The asymmetric requirements of the launch and reception missions specifically refer to the following: the launch end requires a fast dynamic response, and the transmitting mirror needs to perform rapid scanning or acquisition; the receiver requires a stable dynamic response, and needs to maintain sub-arcsecond tracking accuracy even under weak signal conditions, with the focus on suppressing low-frequency jitter and eliminating steady-state errors.

[0065] The multi-threaded scheduling module is mapped to the same memory region in a lock-free manner. The heterogeneous processing unit executes differentiated algorithm compensation based on real-time feedback in memory, and realizes spatiotemporal synchronization control of the heterogeneous subsystem through the same memory medium.

[0066] The heterogeneity described in this invention refers to at least one difference between the transmitting telescope subsystem and the receiving telescope subsystem in terms of physical characteristics, control objectives, and data processing logic. A centralized OCS system achieves coordinated control of both subsystems through a shared memory area. Specifically, the hardware heterogeneity involves the two telescopes having different apertures: the first telescope is a 0.6-meter aperture telescope used for transmitting, while the second telescope is a 2.5-meter aperture optical telescope primarily used for receiving. The mission heterogeneity involves the transmitting end performing active scanning and transmission, while the receiving end performs passive acquisition and tracking. The two telescopes also differ in mechanical structure, optical aperture, and function. The laser transmitting unit is installed in the optical path of the 0.6-meter telescope. The 2.5-meter telescope is an altazimuth telescope with both laser receiving and astronomical observation capabilities.

[0067] Message bus: Used for transmitting instructions and status feedback between the centralized OCS and multiple execution terminals; the OCS directly issues instructions to the transmitting telescope subsystem and the receiving telescope subsystem via the message bus to achieve synchronous drive of the two telescopes; the operating status of the transmitting telescope subsystem and the receiving telescope subsystem is mapped to the same memory area of ​​the OCS in real time via the message bus; the OCS receives the echo detection status of the receiving telescope subsystem in real time via the message bus, and dynamically corrects the pointing offset of the transmitting telescope within the same process based on the feedback, forming a closed-loop control; the message bus is preferably a ZeroMQ message bus, using a publish-subscribe mode or a request-response mode, and the round-trip delay of instructions between the OCS and the two telescope subsystems is controlled within 1 millisecond;

[0068] Multiple hardware execution layers: including at least one receiving telescope subsystem and one transmitting telescope subsystem;

[0069] The transmitting telescope subsystem includes the transmitting mirror control and laser transmitting terminal; the receiving telescope subsystem includes the receiving mirror control and image detection terminal.

[0070] Clock synchronization layer: Establishes a unified time reference for the entire system; both the transmitting and receiving telescope subsystems are connected to the same high-precision NTP server on the internal network. The OCS uses the unified time reference provided by this high-precision NTP server to correct the timestamps of the two commands, eliminating clock drift. The telescope control system architecture is as follows: Figure 4 As shown, it is mainly divided into four parts: observation and control domain, subsystem control domain, hard real-time execution domain, and multiple hardware execution layers.

[0071] The implementation method of the system involved in this embodiment is as follows: Figure 2 As shown, it includes the following steps:

[0072] Step 1: Preparation Phase - Task Initialization. First, a status check is performed. The centralized OCS simultaneously checks the status of both the transmitting and receiving telescopes, locking the control resources of both telescopes.

[0073] The system employs a resource sequence number locking mechanism, which assigns a unique number to all competing resources in the system, and the control thread strictly requests resource locks in ascending order of the number to avoid system deadlock in concurrent states.

[0074] In one specific embodiment, the system assigns a unified number to the competing resources involved in the transmitting and receiving telescopes, forming a resource numbering table as shown in Table 5:

[0075] Table 5 Resource Number Table

[0076] During the synchronization pointing phase, the Rx-Thread controls the receiving telescope, and the Tx-Thread controls the transmitting telescope.

[0077] When the receiving thread (Rx-Thread) needs to read the unified timestamp, update the receiving telescope status, and write receiving mirror control commands, it requests resource locks in the order R1→R3→R5. When the transmitting thread (Tx-Thread) needs to read the unified timestamp, read the receiver feedback data, and write transmitting mirror control commands, it requests resource locks in the order R1→R3→R4→R6. When releasing resources, all threads release resource locks in the reverse order of their request order.

[0078] Step 2: Unified task reception, receiving observation target information containing the requirements for dual-mirror collaboration. Specifically, when generating guidance commands, the centralized OCS creates time-stamped high-precision tracking queues with 0.1-second intervals and sends them to the two TCS systems at 2.5 meters and 0.6 meters respectively, which then parse and execute the commands.

[0079] Step 3: Asynchronous Parallel Scheduling and Instruction Distribution. The centralized OCS utilizes a multi-threaded mechanism to encapsulate the two resolved instructions into message packets with the same timestamp within the same process space, and then sends them in parallel to the two telescope subsystems of the multi-hardware execution layer via a message bus.

[0080] The specific process of the algorithm for calculating the transmission and reception commands is as follows: The OCS system pre-calculates and generates corresponding tracking files based on the parameters of the two telescopes. This file records the tracking time line by line at 0.1-second intervals, with each line containing the telescope's elevation angle, azimuth angle, and despin angle at that moment. Subsequently, the TCS system sends these commands to the lower layer for execution.

[0081] The multi-threaded mechanism employs a dual-threaded parallel architecture, with the transmitting telescope and receiving telescope serving as the transmitting end control thread (Tx-Thread) and the receiving end control thread (Rx-Thread), respectively. These two threads are uniformly awakened by a high-priority master-scheduler. Figure 5 As shown.

[0082] At the beginning of each scheduling cycle, the main scheduling thread calls the system's high-precision clock (NTP time synchronization) to obtain a unique global timestamp T. ref The timing process is as follows: Figure 3 As shown.

[0083] To ensure that both instructions leave the OCS simultaneously, a thread barrier is set before message sending. After both processing threads complete their tasks, they enter a waiting state until both are ready, at which point asynchronous non-blocking sending (ZeroMQ PUSH mode) is triggered.

[0084] The distributed communication bus employs a publish-subscribe or request-response message middleware to establish command transmission between the centralized OCS and multiple execution terminals. Each hardware execution layer includes at least one receiving telescope and one transmitting telescope, with each telescope connected to the distributed communication bus via its own hardware proxy module.

[0085] Step 4: Synchronization Pointing Phase. Based on a unified clock reference and message bus, the heterogeneous collaborative processing unit simultaneously starts two command sending threads. Thread Rx-Thread drives the receiving mirror to point at the target, and thread Tx-Thread drives the transmitting mirror to point at the target based on the baseline correction value. Finally, the positions of the two telescopes are aggregated in real time to the centralized OCS monitoring interface via the message bus.

[0086] Within the same logical process space, the state data of the transmitting and receiving ends are exchanged using the memory area, and the pointing offset of the transmitting end is dynamically corrected based on the feedback signal from the receiving end, thereby realizing the synchronous generation and deterministic issuance of dual-channel commands.

[0087] In one specific embodiment, the receiving telescope detector acquires the echo spot image and calculates the measured pixel coordinates of the spot center as (x, y) and the desired pixel coordinates as (x0, y0). The centralized control system calculates the correction amounts for the azimuth and altitude axes according to the following formula:

[0088]

[0089] Where ΔAz is the azimuth axis correction angle, ΔAlt is the altitude axis correction angle; p is the detector pixel size in μm; f is the effective focal length of the telescope in mm; φ is the image field rotation angle of the image coordinate system relative to the horizon coordinate system, which can be obtained through calibration or calculated by φ = A + δ, where A is the current azimuth angle of the telescope and δ is the camera mounting angle.

[0090] The centralized OCS superimposes the calculated ΔAz and ΔAlt into the theoretical tracking command to obtain the corrected azimuth and elevation angle control commands, thereby achieving closed-loop correction of the pointing error of the receiving telescope.

[0091] In this embodiment, the value of p ranges from 2 to 20 μm, the value of f ranges from 500 to 100000 mm, the value of φ ranges from 0 to 2π rad, and the value of δ ranges from -π to π rad.

[0092] Step 5: During the transmission and reception phase, the centralized OCS transmits the telescope status to the laser control system in real time via the message bus. After the laser control system confirms that both telescopes have "locked onto" the target, the laser transmitter sends a "fire" command. Simultaneously, the high-sensitivity detector at the receiver is activated.

[0093] Both the laser transmitter and receiver are connected to the intranet high-precision NTP service to provide a unified time reference module, which calculates and compensates for the differences in observation of the same target by both ends in real time, thereby achieving synchronization of spatial pointing between the two machines.

[0094] Step 6: Real-time echo signal detection. When the laser hits the target, the receiving mirror locks onto its current offset position relative to the center point and asynchronously pushes the data to the centralized OCS via ZeroMQ. If the receiving mirror does not receive an echo, the centralized OCS initiates a "search mode".

[0095] The "search mode" refers to the centralized OCS's ability to locate a target by correcting the telescope's azimuth or altitude deviation when the receiving telescope does not detect a signal, until the receiver captures the signal and triggers closed-loop locking.

[0096] In one specific embodiment, when the receiving telescope fails to detect a valid echo signal within a preset time window, the centralized OCS initiates a search mode. This search mode employs a spiral scanning path, using the predicted target position or the last valid target position as the scanning center, and achieves target search by adjusting the azimuth and altitude axes of the receiving telescope.

[0097] The spiral scanning process gradually expands the scanning range by using a preset step angle. The step angle is preferably 0.001° to 0.05°, or set to 1 / 10 to 1 / 2 of the field of view of the receiving telescope, in order to balance search accuracy and search efficiency.

[0098] Furthermore, the spiral scan is set with a maximum scanning radius, which is preferably 0.01° to 2°. If no valid echo signal is detected after the scanning radius reaches the maximum scanning radius, the current search cycle is determined to have failed.

[0099] In one embodiment, the search mode sets a search timeout period, which is preferably 1 s to 60 s. When the search duration exceeds the search timeout period and the receiver still does not detect a valid echo signal, the centralized OCS terminates the current search process and executes target re-prediction, re-search, or security interlocking processing procedures.

[0100] Step 7: Target locking and cooperative tracking. Once the receiving telescope captures a valid echo signal, the PID control cycle frequency inside the TCS enters a closed-loop precision tracking state, and the OCS dynamically corrects the pointing of the transmitting mirror based on the feedback from the receiver.

[0101] The PID control cycle frequency inside the TCS is no less than 100Hz (depending on the specific hardware) to ensure that the transmitting optical axis and the center of the receiving field of view maintain sub-arcsecond spatial alignment accuracy during dynamic tracking.

[0102] Step 8: During the execution of the above steps, perform full-time multi-level safety interlock monitoring. The centralized OCS continuously monitors data and equipment health status. Once a safety threshold is triggered, it utilizes the advantages of intra-process communication to simultaneously issue commands to shut down the laser and reset the hardware.

[0103] The equipment operation safety threshold includes at least one of the following:

[0104] 1. The servo motor drive current exceeds the preset current threshold;

[0105] 2. The motor temperature exceeds the preset temperature threshold;

[0106] 3. The telescope's azimuth or elevation axis position exceeds the limit;

[0107] 4. Control communication timeout.

[0108] In one embodiment, when a communication timeout exceeds a preset period, a telescope position deviation exceeds the allowable error range, or a servo drive malfunction is detected, the OCS trigger device interlock action is issued.

[0109] Furthermore, the interlocking action includes at least one of the following:

[0110] 1. The laser is immediately shut off;

[0111] 2. The launching telescope ceases tracking;

[0112] 3. The receiving telescope enters a safe position;

[0113] 4. Reset faulty hardware;

[0114] 5. Interlocking status broadcast;

[0115] 6. Fault logs and timestamp records.

[0116] It also includes a multi-level safety interlocking mechanism, which monitors external environmental data and real-time hardware status, and synchronously issues emergency avoidance commands to all execution terminals within a single point control unit.

[0117] In summary, this invention focuses on the field of astronomical telescope control technology, proposing a dual-telescope transceiver collaborative control architecture and method based on a unified observation and control system (OCS). This architecture is used for dual-telescope control in laser ranging within the astronomical observation field, achieving millisecond-level command synchronization between the transmitting and receiving telescopes, effectively improving laser ranging efficiency. Besides meeting the control requirements of dual-telescope laser ranging, it is also applicable to the unified management and control of multiple local telescopes. This invention breaks through the traditional discrete control mode of dual OCSs, adopting an innovative architecture of centralized management of two telescopes by a single OCS. Although physically there are two telescopes, at the OCS bus level, they are encapsulated as two channels of the same logical entity. This invention constructs a unified time base for the entire system, using a centralized OCS dual-telescope real-time collaborative message bus based on ZeroMQ, providing a unified time base with high-precision NTP services on the intranet, and constructing a unified spatiotemporal reference engine. High-precision alignment of the receiving and transmitting branches is achieved within a single observation and control system; and real-time interaction of commands and status is realized based on the ZeroMQ message bus, fundamentally solving the dual-mirror collaboration problem. Its core advantages include: centralized OCS decision-making for global optimization, low-latency concurrent distribution, and heartbeat monitoring and fault linkage. It enables transmit and receive functions, with different bus priorities designed for the transmitting and receiving telescopes. It features a closed-loop mechanism, utilizing the signal strength feedback from the receiving telescope to uniformly issue tasks via the message bus, dynamically correcting the pointing of the transmitting telescope in real time. It is self-healing; under centralized OCS management, if one telescope fails, the system executes decisions via the message bus to minimize observational losses.

[0118] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A unified control system for high real-time performance based on heterogeneous dual telescopes, characterized in that, include: A centralized observation and control system (OCS) that directly controls both the transmitting telescope subsystem and the receiving telescope subsystem. The OCS maintains a unified memory area to simultaneously store control data, status data, and environmental data for both the transmitting and receiving telescopes. Based on the data in the unified memory region, the OCS generates transmit and receive instructions in parallel through multiple threads within the same process space, and assigns the same timestamp to the two instructions. The OCS simultaneously sends the two commands to the transmitting telescope subsystem and the receiving telescope subsystem via a message bus, achieving millisecond-level synchronous driving of the two telescopes.

2. The system according to claim 1, characterized in that, Data in the unified memory region can be directly used for dual-mirror collaborative computing without requiring cross-system network requests or serialization operations.

3. The system according to claim 1, characterized in that, Both the transmitting telescope subsystem and the receiving telescope subsystem are connected to the same intranet high-precision NTP server. The OCS corrects the timestamps of the two commands based on the unified time reference provided by the high-precision NTP server, eliminating clock drift.

4. The system according to claim 1, characterized in that, The OCS receives the echo detection status of the receiving telescope subsystem in real time through the message bus, and dynamically corrects the pointing offset of the transmitting telescope within the same process based on the feedback, forming a closed-loop control.

5. The system according to claim 1, characterized in that, The message bus is a ZeroMQ message bus, which adopts a publish-subscribe mode or a request-response mode, and the round-trip delay of instructions between the OCS and the two telescope subsystems is controlled within 1 millisecond.

6. The system according to claim 1, characterized in that, The transmitting telescope subsystem and the receiving telescope subsystem each include a telescope control system (TCS). After the TCS parses the instructions from the OCS, it realizes closed-loop position control and maps the real-time position feedback to the unified memory area of ​​the OCS through a message bus.

7. The system according to claim 1, characterized in that, The OCS also includes a heterogeneous collaborative processing unit, which generates instructions with different motion parameters to meet the asymmetric requirements of the launch and reception tasks, and sends them out in parallel through the multi-threaded process.

8. A dual-telescope cooperative control method based on the system according to any one of claims 1 to 7, characterized in that, Includes the following steps: Step 1: The centralized OCS simultaneously checks the status of the transmitting and receiving telescopes and locks the control resources of both telescopes. Step 2: The OCS receives observation target information that includes the requirements for dual-mirror collaboration; Step 3: Within the same process space, the OCS uses multiple threads to encapsulate the calculated transmit and receive commands into message packets with the same timestamp, and sends them in parallel to the two telescope subsystems via the message bus; Step 4: Based on a unified clock reference, the two telescopes synchronously point at the target, and the OCS summarizes and displays the positions of the two telescopes in real time through the message bus; Step 5: After the OCS confirms that both telescopes have locked onto the target, it sends a permission to launch command to the laser control system via the message bus and simultaneously activates the receiver detector. Step 6: If the receiving telescope does not detect an echo signal, the OCS will activate the search mode and correct its pointing to find the target; Step 7: Once the receiving telescope captures a valid echo signal, it enters closed-loop precision tracking. The OCS dynamically corrects the pointing of the transmitting mirror based on the feedback from the receiver. Step 8: During the execution of the above steps, OCS continuously monitors the device status. Once a safety threshold is triggered, it simultaneously issues commands to shut down the laser and reset the hardware.

9. The method according to claim 8, characterized in that, In step 1, OCS uses a resource sequence number locking mechanism to assign a unique number to all competing resources, and controls the threads to apply for resource locks in ascending order of the numbers in order to avoid concurrent deadlock.

10. The method according to claim 8, characterized in that, The search mode in step 6 includes: the OCS gradually adjusts the azimuth and elevation deviation of the receiving telescope according to the spiral scanning path until the echo signal is received.

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