A communication method, a probe device, a satellite, and a satellite system

Abstract

The embodiment of the present application provides a communication method, a detection device, a satellite and a satellite system, which can effectively reduce the communication time delay in the acquisition, tracking and aiming process. The detection device comprises a beacon light emitting module, a beacon light receiving module and a control module; the beacon light emitting module is used for emitting K1 first beacon lights to another detection device, K1 being any integer greater than 1; the beacon light receiving module is used for receiving second beacon lights from another detection device, the time period in which one second beacon light is received by the beacon light receiving module being located between the time periods in which two adjacent first beacon lights in the K1 first beacon lights are emitted by the beacon light emitting module; the beacon light receiving module is further used for converting the second beacon light into an electric signal and sending the electric signal to the control module; and the control module is used for detecting the direction in which another detection device emits the second beacon light according to the electric signal.

Description

[0001] This application claims priority to Chinese Patent Application No. 202510549463.1, filed on April 28, 2025, entitled "A Communication Method, Optical Device and Communication System", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of communication technology, and in particular to a communication method, a detection device, a satellite, and a satellite system. Background Technology

[0003] For a high-stability, high-bandwidth, air-to-ground integrated transmission scenario, both the first and second optical devices of the two communicating parties include an acquisition, tracking, and pointing (ATP) system.

[0004] To achieve communication, the first optical device sends a first beacon light to the second optical device along a first direction. The second optical device identifies the location of the first optical device based on the first beacon light and sends a second beacon light to the first optical device along a second direction. The first optical device identifies the location of the second optical device based on the second beacon light. Based on the identified location of the second optical device and the identified location of the first optical device by the second optical device, the two optical devices achieve communication.

[0005] To improve the efficiency of the first and second optical devices in determining each other's location, it is necessary to quickly determine the uncertain area where the other is located. For example, the first optical device needs to quickly determine the uncertain area where the second optical device is located. The first optical device sends a first beacon light to the uncertain area where the second optical device is located. The first optical device can reduce the time to obtain the uncertain area where the second optical device is located by using a star sensor. However, the star sensor will increase the cost of the first optical device, and the obtained uncertain area is still large, which is not conducive to reducing the efficiency of the first optical device in determining the location of the second optical device. Summary of the Invention

[0006] This application provides a communication method, detection device, satellite, and satellite system that can effectively reduce communication latency during the acquisition, tracking, and aiming processes.

[0007] In a first aspect, this application provides a communication method, the method comprising: a first optical device transmitting a first optical pulse sequence to a second optical device along a first direction, the first optical pulse sequence comprising K1 first optical pulses, the first optical pulse sequence being used by the second optical device to obtain a direction for transmitting the optical pulse sequence to the first optical device, wherein K1 is any integer greater than 1; the first optical device receiving a second optical pulse sequence from the second optical device along a second direction, the second optical pulse sequence comprising K2 second optical pulses, wherein K2 is any integer greater than 1, corresponding at the same time to one of the peak values ​​of the first optical pulse sequence and the peak value of the second optical pulse sequence; the first optical device obtaining a third direction based on the second optical pulse sequence, and transmitting a third optical pulse sequence to the second optical device along the third direction.

[0008] As shown in this aspect, during the time period when the first optical device sends a first optical pulse sequence to the second optical device, the second optical device also sends a second optical pulse sequence to the first optical device. This can accelerate the acquisition, pointing, and tracking process, thereby improving the efficiency and speed of communication between the first and second optical devices. On the time axis, the times corresponding to the peaks of the first and second optical pulses are staggered. This effectively suppresses interference between the first and second optical pulse sequences, reduces the difficulty for both the first and second optical devices to receive and detect the second optical pulse sequence, and improves the accuracy of the acquisition, pointing, and tracking process between the two devices. Furthermore, improving the system's signal-to-noise ratio and increasing the divergence and reception angles allows for faster acquisition of the other optical device's position, increasing the speed of locking onto the other optical device and effectively reducing latency.

[0009] Based on the first aspect, in one optional implementation, the first direction and the target connection have a first angle, the third direction and the target connection have a second angle, the absolute value of the second angle is less than the absolute value of the first angle, and the target connection is the connection between the first optical device and the second optical device.

[0010] By adopting this implementation method, the direction of the optical pulse sequence sent by the first optical device to the second optical device is switched from the first direction to the third direction. This can reduce the angular deviation between the direction of the optical pulse sequence sent by the first optical device and the target connection line, ensuring the stability and reliability of the establishment of the space optical communication link, and improving the communication strength between the first optical device and the second optical device based on the space optical communication link.

[0011] Based on the first aspect, in one optional implementation, the third optical pulse sequence includes K3 third optical pulses, where K3 is any integer greater than 1, corresponding to one of the peak values ​​of the second optical pulse sequence and the third optical pulse sequence at the same time.

[0012] As shown in this implementation, the times corresponding to the peaks of the third optical pulse and the times corresponding to the peaks of the second optical pulse are interleaved on the time axis. This effectively suppresses the interference between the third and second optical pulse sequences, reduces the difficulty for the first optical device to receive and detect the second optical pulse sequence, and reduces the difficulty for the second optical device to receive and detect the first optical pulse sequence, thereby improving the accuracy of the acquisition, pointing, and tracking processes between the first and second optical devices.

[0013] Based on the first aspect, in one optional implementation, the period of the first optical pulse sequence and the period of the second optical pulse sequence are both target period T, and the pulse leading edge of the second optical pulse sequence and the pulse leading edge of the first optical pulse sequence are time-separated by half of the target period T.

[0014] As shown in this implementation, when the pulse leading edge of the second optical pulse sequence and the pulse leading edge of the first optical pulse sequence are timed by half the target period T, it effectively ensures that the times corresponding to the peak values ​​of the first optical pulse and the times corresponding to the peak values ​​of the second optical pulse are staggered on the time axis. This effectively suppresses the interference between the first and second optical pulse sequences and improves the accuracy of the acquisition, pointing, and tracking processes between the first and second optical devices.

[0015] Based on the first aspect, in one optional implementation, the energy of any two different first optical pulses among the K1 first optical pulses is equal.

[0016] The implementation method shown in this paper improves the system's signal-to-noise ratio, increases the divergence angle and reception angle, enables faster acquisition of the location of the other party's optical equipment, improves the speed of locking onto the other party's optical equipment, and effectively reduces latency.

[0017] Based on the first aspect, in one optional implementation, the K1 first optical pulses include a first target optical pulse and a second target optical pulse, wherein the energy of the first target optical pulse is not equal to the energy of the second target optical pulse.

[0018] Using this implementation, the first optical pulse sequence detects the position of the second optical device based on the energy of the first target optical pulse with different energies and the second target optical pulse. This can improve the dynamic detection range, thereby increasing the success rate and reliability of the communication process between the first and second optical devices for acquisition, tracking, and aiming.

[0019] Based on the first aspect, in one optional implementation, the energy of the first target pulse is greater than or equal to twice the energy of the second target pulse.

[0020] By adopting this implementation method, when the energy of the first target pulse is greater than or equal to twice the energy of the second target pulse, the dynamic detection range can be improved, thereby increasing the success rate and reliability of the communication process of acquisition, tracking and aiming between the first optical device and the second optical device.

[0021] Based on the first aspect, in one optional implementation, in the K1 first optical pulses, the time when the first optical device emits the first target optical pulse is adjacent to the time when it emits the second target optical pulse.

[0022] This implementation effectively improves the dynamic detection range, thereby enhancing the success rate and reliability of the communication process between the first and second optical devices for acquisition, tracking, and aiming.

[0023] Based on the first aspect, in one optional implementation, each of the first optical pulses in the first optical pulse sequence has a first waveform, and each of the second optical pulses in the second optical pulse sequence has a second waveform, wherein the first waveform is different from the second waveform.

[0024] By adopting this implementation method, when the first waveform is different from the second waveform, the isolation between the optical pulse sequence emitted and received by the first optical device and the anti-interference capability are effectively improved.

[0025] Based on the first aspect, in one optional implementation, the difference between the first waveform and the second waveform is that, in the first waveform and the second waveform, one waveform is a sine wave and the other waveform is a frequency-modulated wave.

[0026] By adopting this implementation method, when the first waveform is different from the second waveform, the isolation between the optical pulse sequence emitted and received by the first optical device and the anti-interference capability are effectively improved.

[0027] Based on the first aspect, in one optional implementation, both the first waveform and the second waveform are sine waves. The first waveform is different from the second waveform in that the sine frequency of the first waveform is different from the sine frequency of the second waveform. Alternatively, both the first waveform and the second waveform are frequency-modulated waves. The first waveform is different from the second waveform in that the frequency modulation slope of the first waveform is different from the frequency modulation slope of the second waveform.

[0028] By adopting this implementation method, when the first waveform is different from the second waveform, the isolation between the optical pulse sequence emitted and received by the first optical device and the anti-interference capability are effectively improved.

[0029] Based on the first aspect, in one optional implementation, the first waveform is different from the second waveform in that the envelope of the first waveform is offset from the envelope of the second waveform.

[0030] By adopting this implementation method, when the first waveform is different from the second waveform, the isolation between the optical pulse sequence emitted and received by the first optical device and the anti-interference capability are effectively improved.

[0031] Based on the first aspect, in one optional implementation, the first waveform being different from the second waveform means that the frequency modulation slope of the first waveform is different from the frequency modulation slope of the second waveform.

[0032] By adopting this implementation method, when the first waveform is different from the second waveform, the isolation between the optical pulse sequence emitted and received by the first optical device and the anti-interference capability are effectively improved.

[0033] Based on the first aspect, in one optional implementation, the first waveform is different from the second waveform in that the phase of the first waveform is offset from the phase of the second waveform.

[0034] By adopting this implementation method, when the first waveform is different from the second waveform, the isolation between the optical pulse sequence emitted and received by the first optical device and the anti-interference capability are effectively improved.

[0035] Based on the first aspect, in one optional implementation, the first optical device includes a laser array, the laser array includes L lasers, where L is any integer greater than 1 and less than or equal to K1, and the first optical device sending a first optical pulse sequence to the second optical device along a first direction includes: the L lasers sending the first optical pulse sequence to the second optical device along the first direction.

[0036] By employing this implementation method, the first optical pulse sequence is emitted through a laser array, which effectively accelerates the acquisition, pointing, and tracking process, thereby improving the efficiency and speed of communication between the first optical device and the second optical device and reducing communication latency.

[0037] Based on the first aspect, in an optional implementation, the first optical pulse sequence includes a first ranging optical pulse. After the first optical device sends the first optical pulse sequence to the second optical device along a first direction, the method further includes: the first optical device receiving a first arrival time from the second optical device, the first arrival time being the time when the first ranging optical pulse arrives at the second optical device; the first optical device obtaining the distance between the first optical device and the second optical device based on a first transmission time and the first arrival time, the first transmission time being the time when the first optical device sends the first ranging optical pulse.

[0038] Using this implementation method, the first optical device can achieve the purpose of accurately detecting the distance between the first optical device and the second optical device.

[0039] Based on the first aspect, in an optional implementation, the second optical pulse sequence includes a second ranging optical pulse. After the first optical device receives the second optical pulse sequence from the second optical device along a second direction, the method further includes: the first optical device obtaining a second arrival time, the second arrival time being the time when the first optical device receives the second ranging optical pulse; the first optical device sending the second arrival time to the second optical device, the second arrival time being used to obtain the distance between the first optical device and the second optical device.

[0040] Using this implementation, the second arrival time sent by the first optical device to the second optical device enables the second optical device to successfully measure the distance between the first optical device and the second optical device.

[0041] Based on the first aspect, in one optional implementation, the divergence angle of the first optical pulse sequence is greater than the divergence angle of the second optical pulse sequence.

[0042] By adopting this implementation method, the first optical device can locate the approximate range of the second optical device based on the first optical pulse sequence with a large divergence angle. The first optical device then performs fine positioning of the second optical device within the approximate range based on the second optical pulse sequence with a smaller divergence angle. This improves the accuracy of the first optical device in locking the position of the second optical device and reduces communication latency.

[0043] Secondly, this application provides an optical device, including a transmitting unit, a receiving unit, and a tracking device; the tracking device is used to adjust the emission direction of the transmitting unit to a first direction; the transmitting unit is used to send a first optical pulse sequence to another optical device along the first direction, the first optical pulse sequence including K1 first optical pulses, the first optical pulse sequence being used by the other optical device to obtain the direction of sending the optical pulse sequence to the optical device, where K1 is any integer greater than 1; the receiving unit is used to receive a second optical pulse sequence from the other optical device along a second direction, the second optical pulse sequence including K2 second optical pulses, where K2 is any integer greater than 1, corresponding to one of the peak values ​​of the first and second optical pulse sequences at the same time; the tracking device is further used to adjust the emission direction of the transmitting unit to a third direction; the transmitting unit is further used to obtain the third direction based on the second optical pulse sequence, and send a third optical pulse sequence to the second optical device along the third direction. For an explanation of the beneficial effects of this aspect, please refer to the first aspect, which will not be elaborated further.

[0044] Based on the second aspect, in one optional implementation, the reflecting unit includes a light source and an emitting component. The light source is used to send the first light pulse sequence to the emitting component, and the tracking device is used to adjust the light emission direction of the emitting component to the first direction, so that the first light pulse sequence emitted by the emitting component is transmitted along the first direction.

[0045] Based on the second aspect, in an optional implementation, the receiving unit includes a receiving component and a detection unit. The tracking device is used to adjust the light receiving direction of the receiving component to the second direction, so that the receiving component receives the second light pulse sequence along the second direction. The detection unit is used to perform photoelectric conversion on the second light pulse sequence from the receiving component to obtain an electrical signal, and the electrical signal is used to obtain the third direction.

[0046] Thirdly, this application provides a communication system comprising a plurality of optical devices, wherein the methods performed by the optical devices are as described in any of the first aspects above.

[0047] Fourthly, this application provides a detection device, including a beacon light emitting module for emitting K1 first beacon lights to another detection device, where K1 is any integer greater than 1; a beacon light receiving module for receiving second beacon lights from the other detection device, wherein a time period during which a second beacon light is received by the beacon light receiving module is located between the time periods during which two adjacent first beacon lights among the K1 first beacon lights are emitted by the beacon light emitting module; the beacon light receiving module is further configured to convert the second beacon light into an electrical signal and send the electrical signal to a control module; the control module is configured to detect the direction of the second beacon light emitted by the other detection device based on the electrical signal.

[0048] As described in this aspect, within the same target time period, a first detection device emits multiple first beacon lights to another detection device, and also receives multiple second beacon lights from the other detection device. However, within this target time period, the first detection device receives one second beacon light from the other detection device between two adjacent first beacon lights and performs photoelectric conversion. Because the first detection device emits multiple first beacon lights while simultaneously receiving multiple second beacon lights from the other detection device within the same target time period, the acquisition, pointing, and tracking process between the first and other detection devices is effectively accelerated, thereby improving the efficiency and speed of communication between the first and other detection devices. Furthermore, since the first detection device receives one second beacon light from the other detection device between two adjacent first beacon lights, interference between the first and second beacon lights is effectively suppressed, reducing the difficulty for the first detection device to receive and detect the second beacon light and reducing the difficulty for the other detection device to receive and detect the first beacon light, thus improving the accuracy of the acquisition, pointing, and tracking process between the first and other detection devices.

[0049] Based on the fourth aspect, in an optional implementation, the detection device further includes a first synchronization module, which is used to synchronize with the clock of the second synchronization module of the other detection device to control the duration of the transmission time slot, and the beacon light transmission module is used to emit the first beacon light during the duration of the transmission time slot.

[0050] By adopting this implementation method, the transmission time slot is controlled by the first synchronization module, which effectively suppresses the interference between the first beacon light and the second beacon light, reduces the difficulty for the first detection device to receive and detect the second beacon light, and reduces the difficulty for the other detection device to receive and detect the first beacon light, thereby improving the accuracy of the acquisition, pointing and tracking process between the first detection device and the other detection device.

[0051] Based on the fourth aspect, in an optional implementation, the detection device further includes a first synchronization module, which is used to synchronize with the clock of the second synchronization module of the other detection device to determine the duration of the receiving time slot.

[0052] In this implementation, the beacon light receiving module is used to receive the second beacon light during the duration of the receiving time slot. By using the receiving time slot determined by the first synchronization module, the interference between the first beacon light and the second beacon light is effectively suppressed, reducing the difficulty for the first detection device to receive and detect the second beacon light and reducing the difficulty for another detection device to receive and detect the first beacon light, thereby improving the accuracy of the acquisition, pointing and tracking process between the first detection device and the other detection device.

[0053] Based on the fourth aspect, in one optional implementation, the first synchronization module includes a first crystal oscillator circuit and a first phase-locked loop (PLL). The first PLL is used to control the frequency and phase output by the first crystal oscillator circuit. The clock synchronization between the first synchronization module and the second synchronization module includes frequency synchronization and phase synchronization. The frequency synchronization refers to the frequency synchronization between the frequency output by the first crystal oscillator circuit and the frequency output by the second crystal oscillator circuit included in the second synchronization module. The phase synchronization refers to the phase synchronization between the phase output by the first crystal oscillator circuit and the phase output by the second crystal oscillator circuit.

[0054] By adopting this implementation method, it is effectively ensured that the first detection device receives a second beacon light from the other detection device between two adjacent first beacon lights in a plurality of first beacon lights, effectively suppressing the interference between the first beacon light and the second beacon light, reducing the difficulty for the first detection device to receive and detect the second beacon light and reducing the difficulty for the other detection device to receive and detect the first beacon light, thereby improving the accuracy of the acquisition, pointing and tracking process between the first detection device and the other detection device.

[0055] Based on the fourth aspect, in an optional implementation, the beacon light receiving module is used to receive K2 second beacon lights, where K2 is any integer greater than 1, and the peak times of the K1 first beacon lights are staggered with the peak times of the K2 second beacon lights. The peak time of the first beacon light refers to the time when the first beacon light reaches its maximum amplitude in the time domain, and the peak time of the second beacon light refers to the time when the second beacon light reaches its maximum amplitude in the time domain.

[0056] By adopting this implementation method, since the peak times of the K1 first beacon lights are staggered with the peak times of the K2 second beacon lights, the acquisition, pointing and tracking process between the first detection device and the second detection device is effectively accelerated, thereby improving the efficiency and speed of communication between the first detection device and the second detection device, and enhancing the robustness of the communication system.

[0057] Based on the fourth aspect, in an optional implementation, the K1 first beacon lights include first beacon light i-1, first beacon light i, and first beacon light i+1, the first beacon light i-1, the first beacon light i, and the first beacon light i+1 being sequentially adjacent in the K1 first beacon lights, wherein the time interval between the peak times of the first beacon light i-1 and the first beacon light i is not equal to the time interval between the peak times of the first beacon light i and the first beacon light i+1.

[0058] In this implementation, the first detection device emits multiple first beacon lights at unequal time intervals, which helps to improve the anti-interference performance of the alignment process between the first detection device and another detection device. Moreover, the first detection device can dynamically and flexibly adjust the time interval between the peak times of two adjacent first beacon lights according to channel conditions, etc., which improves the flexibility of alignment.

[0059] Based on the fourth aspect, in an optional implementation, the K1 first beacon lights include first beacon light i-1, first beacon light i, and first beacon light i+1, the first beacon light i-1, the first beacon light i, and the first beacon light i+1 being sequentially adjacent in the K1 first beacon lights, wherein the time interval between the peak times of the first beacon light i-1 and the first beacon light i is equal to the time interval between the peak times of the first beacon light i and the first beacon light i+1.

[0060] By adopting this implementation method, the first detection device emits multiple first beacon lights at equal time intervals, which helps the other detection device to accurately predict the duration of the receiving time slot of the first beacon light, improves the reliability of the alignment between the first detection device and the other detection device, and reduces the complexity of the first synchronization module and control module in controlling the beacon light emitting module of the first detection device to emit multiple first beacon lights, thereby improving the efficiency and accuracy of alignment.

[0061] Based on the fourth aspect, in one optional implementation, the K1 first beacon lights carry the location information of the detection device, and the K2 second beacon lights carry the location information of the other detection device.

[0062] By adopting this implementation method, when the first beacon light carries the first position information of the first detection device and the second beacon light carries the second position information of the other detection device, the efficiency and accuracy of the alignment between the first detection device and the other detection device are effectively improved.

[0063] Based on the fourth aspect, in one optional implementation, within the same target time period, the number of times the beacon light transmitting module transmits the first beacon light is equal to the number of times the beacon light receiving module receives the second beacon light.

[0064] By adopting this implementation method, the energy consumption of the first detection device and the other detection device during the alignment process can be made consistent, and the time slot resources occupied by the first beacon light emitted by the first detection device and the time slot resources occupied by the second beacon light emitted by the other detection device can be kept balanced, thereby improving communication efficiency.

[0065] Based on the fourth aspect, in one optional implementation, within the same target time period, the number of times the beacon light transmitting module transmits the first beacon light is not equal to the number of times the beacon light receiving module receives the second beacon light.

[0066] Using this implementation, the first detection device can dynamically adjust the number of times it emits the first beacon light within the target time period based on its energy consumption and channel conditions (such as interference). Similarly, the other detection device can dynamically adjust the number of times it emits the second beacon light within the target time period based on its energy consumption and channel conditions, thereby improving the flexibility of adjusting the timing of the first and second beacon light emission.

[0067] Based on the fourth aspect, in one optional implementation, among the K1 first beacon lights, the amplitude distribution of two different first beacon lights over time is the same.

[0068] Using this implementation, the amplitudes of the two different first beacon lights have the same distribution over time, effectively improving alignment accuracy and efficiency. Even if there is interference or noise during the transmission of the first beacon light, the other detection device can accurately identify the first beacon light, reducing the false detection rate.

[0069] Based on the fourth aspect, in one optional implementation, among the K1 first beacon lights, the amplitude distribution of two different first beacon lights is different over time.

[0070] Using this implementation, when the amplitude distribution of the two first beacon lights differs over time, the amplitude changes of the different first beacon lights over time can be used to indicate specific information, such as the identifier of the first detection device or the specific function of the first beacon light (e.g., for coarse alignment, fine alignment, tracking, etc.). The first detection device can dynamically match the amplitude distribution of the first beacon light over time according to the channel conditions, so that when the channel conditions change, the first detection device can emit first beacon lights with different amplitude distributions over time, thus improving the anti-interference capability of the first beacon light.

[0071] Based on the fourth aspect, in one optional implementation, the amplitude distribution of the first beacon light and the second beacon light is different over time.

[0072] In this implementation, the amplitude variation of the first beacon light over time can be used to indicate specific information, such as the identifier of the first detection device or the specific function of the first beacon light (e.g., for coarse alignment, fine alignment, tracking, etc.). Similarly, the amplitude variation of the second beacon light over time can be used to indicate specific information, such as the identifier of another detection device or the specific function of the second beacon light (e.g., for coarse alignment, fine alignment, tracking, etc.). The first detection device can dynamically match the amplitude distribution of the first beacon light over time according to channel conditions, so that when channel conditions change, the first detection device can emit a first beacon light with a different amplitude distribution over time, improving the anti-interference capability of the first beacon light. Similarly, the other detection device can dynamically match the amplitude distribution of the second beacon light over time according to channel conditions, so that when channel conditions change, the other detection device can emit a second beacon light with a different amplitude distribution over time, improving the anti-interference capability of the second beacon light.

[0073] Based on the fourth aspect, in one optional implementation, the wavelength of the first beacon light is the same as the wavelength of the second beacon light.

[0074] In this implementation, the wavelength of the first beacon light is the same as that of the second beacon light. Therefore, the beacon light emitting module of the first detection device and the beacon light emitting module of the other detection device can use the same optical components (such as light source, emission optical system, etc.), which reduces the complexity of the detection device. Moreover, it is not necessary to configure different wavelength resources for beacon light emitted in different directions, which reduces the complexity of wavelength allocation and coordination, reduces alignment error caused by wavelength difference, and improves alignment accuracy.

[0075] Based on the fourth aspect, in an optional implementation, the K1 first beacon lights include L1 first beacon lights and L2 first beacon lights, where L1 and L2 are any integers greater than or equal to 1. The control module is further configured to: control the L1 first beacon lights emitted by the beacon light emitting module to be emitted along a first direction to the other detection device; control the L2 first beacon lights emitted by the beacon light emitting module to be emitted along a third direction to the other detection device, wherein the absolute value of the angle between the third direction and the normal of the photosensitive surface of the other detection device is less than the absolute value of the angle between the first direction and the normal of the photosensitive surface of the other detection device, and the photosensitive surface of the other detection device is used to sequentially detect the L1 first beacon lights and the L2 first beacon lights.

[0076] In this implementation, the direction of the beacon light transmitted by the first detection device to the other detection device is switched from a first direction to a third direction, which reduces the angular deviation between the first beacon light emitted by the first detection device and the target connection line. That is, the absolute value of the angles between L2 first beacon lights and the target connection line is less than the absolute value of the angles between L1 first beacon lights and the target connection line. The target connection line is the theoretically ideal connection direction between the beacon light transmitting module of the first detection device and the beacon light receiving module of the other detection device (i.e., the geometric straight line direction between the first detection device and the other detection device). Switching the direction of the first beacon light emitted by the first detection device from a first direction to a third direction reduces the angular deviation, ensures the stability of the space optical communication link establishment, ensures the stability and reliability of the space optical communication link, and improves the communication strength between the first detection device and the other detection device based on the space optical communication link.

[0077] Based on the fourth aspect, in an optional implementation, the divergence angle of each of the L1 first beacon lights is greater than the divergence angle of each of the L2 first beacon lights.

[0078] In this implementation, the divergence angle of each of the L1 first beacon lights emitted by the first detection device is greater than that of each of the L2 first beacon lights. This indicates that during the process of emitting K1 first beacon lights by the first detection device, the divergence angle of the first beacon lights is gradually decreasing. Therefore, the first detection device first expands the coverage of the first beacon lights by using the L1 first beacon lights to improve the efficiency of scanning and capturing another detection device. Then, the first detection device further improves the signal-to-noise ratio of the energy by using the L2 first beacon lights with reduced divergence angles, thereby achieving high-precision alignment and tracking between the first detection device and the other detection device.

[0079] Based on the fourth aspect, in one optional implementation, the pulse leading edge of the first beacon light is offset from the pulse leading edge of the second beacon light.

[0080] In this implementation, the pulse leading edge of the first beacon light is staggered with the pulse leading edge of the second beacon light to achieve the purpose of the first beacon light and the second beacon light being staggered. This effectively suppresses the interference between the first beacon light and the second beacon light, reduces the difficulty for the first detection device to receive and detect the second beacon light, and reduces the difficulty for the other detection device to receive and detect the first beacon light, thereby improving the accuracy of the acquisition, pointing and tracking process between the first detection device and the other detection device.

[0081] Based on the fourth aspect, in one optional implementation, the waveform of the first beacon light, after Fourier expansion, has one or more signals of different frequencies, and the waveform of the second beacon light, after Fourier expansion, has one or more signals of different frequencies.

[0082] Using this implementation, the first detection module can dynamically adjust the number of frequencies of the first beacon light waveform after Fourier expansion according to different scenarios. For example, if it is needed for long-distance alignment, the waveform of the first beacon light emitted by the first detection module has one frequency after Fourier expansion to improve the spectral energy concentration of the first beacon light and improve the utilization rate of the transmission power of the first detection device. Conversely, if it is needed for anti-interference scenarios or high-precision measurement scenarios, the waveform of the first beacon light emitted by the first detection module has multiple different frequencies after Fourier expansion.

[0083] Based on the fourth aspect, in one optional implementation, the first beacon light has a first waveform, and the second beacon light has a second waveform, wherein the first waveform is different from the second waveform. For example, the first waveform is a sine wave, and the second waveform is a frequency-modulated wave; or, the second waveform is a sine wave, and the first waveform is a frequency-modulated wave. Alternatively, both the first and second waveforms are sine waves, but the sinusoidal frequency of the first waveform is different from the sinusoidal frequency of the second waveform. Alternatively, both the first and second waveforms are frequency-modulated waves, but the frequency modulation slope of the first waveform is different from the frequency modulation slope of the second waveform. Alternatively, the envelope of the first waveform is offset from the envelope of the second waveform. Alternatively, the phase of the first waveform is offset from the phase of the second waveform. See the first aspect for details, which will not be elaborated further.

[0084] Based on the fourth aspect, in one optional implementation, the beacon light emitting module includes any one of an edge-emitting laser (EEL), a pulsed vertical-cavity surface-emitting laser (VCSEL), and a photonic crystal surface-emitting laser (PCSEL).

[0085] Based on the fourth aspect, in one optional implementation, the beacon light receiving module is any one of a four-quadrant photodiode (PD), a four-quadrant avalanche photodiode (APD), a linear PD array, a linear APD array, a planar PD array, a planar APD array, a ring PD array, and a ring APD array.

[0086] Based on the fourth aspect, in an optional implementation, the K1 first beacon lights include a first ranging light, and the control module is further configured to: receive a first time indication from the other detection device, the first time indication indicating a first arrival time, the first arrival time being the time when the first ranging light arrives at the other detection device; and obtain the distance between the detection device and the other detection device based on a first transmission time and the first arrival time, the first transmission time being the time when the detection device transmits the first ranging light. See the first aspect for details, which will not be elaborated further.

[0087] Based on the fourth aspect, in an optional implementation, the K2 second beacon lights include second ranging lights, and the control module is further configured to obtain a second arrival time, which is the time when the detection device receives the second ranging light; and send a second time indication to the other detection device, which is used to indicate the second arrival time, and the second arrival time is used to obtain the distance between the detection device and the other detection device, as shown in the first aspect, without further details.

[0088] Fifthly, this application provides a communication method, the method comprising: a detection device transmitting K1 first beacon lights to another detection device, wherein K1 is any integer greater than 1; the detection device receiving second beacon lights, wherein a time period during which the second beacon light is received by the detection device is located between the time periods during which two adjacent first beacon lights among the K1 first beacon lights are transmitted by the detection device; the detection device converting the second beacon lights into electrical signals; and the detection device detecting the direction of the second beacon lights emitted by the other detection device based on the electrical signals. For an explanation of the beneficial effects, please refer to the fourth aspect, which will not be elaborated further.

[0089] Based on the fifth aspect, in an optional implementation, the detection device includes a first synchronization module, the first synchronization module including a first crystal oscillator circuit and a first phase-locked loop, the other detection device includes a second synchronization module, and before the detection device transmits K1 first beacon lights to the other detection device, the method further includes: the detection device controlling the frequency and phase output of the first crystal oscillator circuit through the first phase-locked loop to synchronize the clocks of the first synchronization module and the second synchronization module, wherein the clock synchronization of the first synchronization module and the second synchronization module includes frequency synchronization and phase synchronization, the frequency synchronization refers to the frequency synchronization between the frequency output of the first crystal oscillator circuit and the frequency output of the second crystal oscillator circuit included in the second synchronization module, and the phase synchronization refers to the phase synchronization between the phase output of the first crystal oscillator circuit and the phase output of the second crystal oscillator circuit.

[0090] Based on the fifth aspect, in an optional implementation, during the process of the detection device emitting K1 first beacon lights to another detection device, the detection device receives K2 second beacon lights, where K2 is any integer greater than 1, the wavelengths of the first beacon lights and the second beacon lights are the same, wherein the peak times of the K1 first beacon lights and the peak times of the K2 second beacon lights are staggered, wherein the peak time of the first beacon light refers to the time when the first beacon light reaches its maximum amplitude in the time domain, and the peak time of the second beacon light refers to the time when the second beacon light reaches its maximum amplitude in the time domain.

[0091] Based on the fifth aspect, in an optional implementation, the K1 first beacon lights include first beacon light i-1, first beacon light i, and first beacon light i+1, the first beacon light i-1, the first beacon light i, and the first beacon light i+1 being sequentially adjacent in the K first beacon lights, wherein the time interval between the peak times of the first beacon light i-1 and the first beacon light i is equal to the time interval between the peak times of the first beacon light i and the first beacon light i+1.

[0092] Based on the fifth aspect, in an optional implementation, the K1 first beacon lights include first beacon light i-1, first beacon light i, and first beacon light i+1, the first beacon light i-1, the first beacon light i, and the first beacon light i+1 being sequentially adjacent in the K first beacon lights, wherein the time interval between the peak times of the first beacon light i-1 and the first beacon light i is not equal to the time interval between the peak times of the first beacon light i and the first beacon light i+1.

[0093] Based on the fifth aspect, in one optional implementation, the K1 first beacon lights carry the location information of the detection device, and the K2 second beacon lights carry the location information of the other detection device, wherein K2 is any integer greater than 1.

[0094] Based on the fifth aspect, in an optional implementation, the K1 first beacon lights include L1 first beacon lights and L2 first beacon lights, where L1 and L2 are any integers greater than or equal to 1. The transmission of K1 first beacon lights from one detection device to another detection device includes: the L1 first beacon lights emitted by the detection device being emitted to the other detection device along a first direction; and the L2 first beacon lights emitted by the detection device being emitted to the other detection device along a third direction, wherein the absolute value of the angle between the third direction and the normal of the photosensitive surface of the other detection device is less than the absolute value of the angle between the first direction and the normal of the photosensitive surface of the other detection device, and the photosensitive surface of the other detection device is used to sequentially detect the L1 first beacon lights and the L2 first beacon lights.

[0095] Based on the fifth aspect, in an optional implementation, the K1 first beacon lights include a first ranging light, and the method further includes:

[0096] The detection device receives a first time indication from the other detection device, the first time indication being used to indicate a first arrival time, the first arrival time being the time when the first ranging light arrives at the other detection device; the detection device obtains the distance between the detection device and the other detection device based on a first transmission time and the first arrival time, the first transmission time being the time when the detection device transmits the first ranging light.

[0097] Based on the fifth aspect, in an optional implementation, the K2 second beacon lights include second ranging lights, and the method further includes:

[0098] The detection device obtains a second arrival time, which is the time when the detection device receives the second ranging light.

[0099] The detection device sends a second time indication to the other detection device. The second time indication is used to indicate the second arrival time, and the second arrival time is used to obtain the distance between the detection device and the other detection device.

[0100] In a sixth aspect, this application provides a satellite, including a signal light transmitting module and a detection device as described in any of the first aspects above; the signal light transmitting module is used to transmit signal light to the other satellite according to the direction of the second beacon light emitted by the other satellite, the signal light carrying data transmitted by the satellite to the other satellite, wherein the other satellite includes the other detection device.

[0101] In a seventh aspect, this application provides a satellite system comprising a plurality of satellites as described in the sixth aspect above. Attached Figure Description

[0102] Figure 1 An example of the structure of an embodiment of the optical communication system provided in this application;

[0103] Figure 2 An example diagram illustrating communication between a first optical device and a second optical device;

[0104] Figure 3 A first structural example diagram of the first optical device and the second optical device;

[0105] Figure 4 A flowchart illustrating the steps of a first embodiment of the communication method provided in this application;

[0106] Figure 5 This is a second structural example diagram of the first optical device and the second optical device;

[0107] Figure 6 Example figures of a first embodiment of the first optical pulse sequence and the second optical pulse sequence provided in this application;

[0108] Figure 7 Example figures of a second embodiment of the first optical pulse sequence and the second optical pulse sequence provided in this application;

[0109] Figure 8 A flowchart illustrating the steps of an embodiment of the ranging method provided in this application;

[0110] Figure 9 An example structural diagram of an embodiment of the optical device provided in this application;

[0111] Figure 10 An example structural diagram of one embodiment of the processing apparatus provided in this application;

[0112] Figure 11 An example structural diagram of one embodiment of the chip provided in this application;

[0113] Figure 12 This is a first structural example diagram of the first detection device and the second detection device;

[0114] Figure 13 A flowchart illustrating the steps of a second embodiment of the communication method provided in this application;

[0115] Figure 14 Example diagram of an embodiment of the first beacon light and the second beacon light provided in this application;

[0116] Figure 15 Example diagram of another embodiment of the first beacon light and the second beacon light provided in this application;

[0117] Figure 16 A flowchart illustrating another embodiment of the ranging method provided in this application. Detailed Implementation

[0118] This application provides an optical communication system that can be used in transmission scenarios requiring high stability, high bandwidth, and integrated air-to-ground communication. Figure 1 This is a structural example diagram of an embodiment of the optical communication system provided in this application. The optical communication system 100 shown in this embodiment specifically includes a first optical device 101 and a second optical device 102, which communicate with each other via spatial laser. This embodiment uses two optical devices as an example; it should be noted that this embodiment does not limit the number of optical devices included in the optical communication system 100. Figure 2 The diagram illustrates the communication process between the first optical device and the second optical device. Figure 2 This is an example diagram illustrating communication between the first optical device and the second optical device.

[0119] To achieve communication between the first optical device 101 and the second optical device 102, the first optical device 101 includes a first ATP system, and the second optical device 102 includes a second ATP system. The ATP system is capable of acquisition, pointing, and tracking between the first optical device 101 and the second optical device 102. The ATP system is a core technology of space optical communication, determining the stability of the space optical communication link. During the acquisition phase, the first ATP system and the second ATP system are misaligned and unaware of each other's exact location. Therefore, the first ATP system sends a first beacon light to the second ATP system. The first beacon light propagates along a first direction, passing through a free-space channel (such as the atmosphere or outer space) to reach the second ATP system. The receiving optical components of the second ATP system (such as a telescope or lens) capture the first beacon light and focus it onto a receiving unit (such as a photodetector) to obtain a corresponding first electrical signal. The second ATP system processes this first electrical signal to identify the presence of the first beacon light. The second ATP system confirms the existence of the first ATP system and preliminarily estimates its approximate direction. During the pointing phase, the second ATP system has captured the first beacon light from the first ATP system, but the two systems are still not precisely aligned. Therefore, the second ATP system further processes the first electrical signal converted from the first beacon light to calculate the angular deviation between the second ATP system's pointing direction and the direction of the connection between the two systems. Specifically, the pointing direction of the second ATP system refers to the current actual pointing direction of the second optical device 102, which is used to establish and maintain the optical link with the first ATP system. Specifically, the pointing direction of the second ATP system is the optical axis direction of the second ATP system, i.e., its actual spatial direction of emitting or receiving beacon light from the first ATP system. The direction of the connection between the two systems is the theoretically ideal connection direction between the second and first ATP systems (i.e., the geometric straight line direction between the first optical device 101 and the second optical device 102). The angular deviation refers to the angular difference between the pointing direction of the second ATP system and the direction of the connection between the two systems. The second ATP system adjusts its orientation based on the angular deviation, thereby reducing the angular deviation between the orientation of the second ATP system and the direction of the connection between the two chains. Although the orientation of the second ATP system has been initially corrected, further tracking is still needed to ensure stable chain formation. Therefore, during the tracking phase, although the orientation of the second ATP system has been adjusted, the first and second ATP systems may still experience slight deviations due to various factors (such as vibration, atmospheric disturbances, etc.).The second ATP system continuously receives and processes the first beacon light emitted by the first ATP system, and dynamically adjusts the pointing of the second ATP system according to the first beacon light. For a detailed explanation of the adjustment, please refer to the pointing diagram above; it will not be repeated here. The first ATP system can also receive the second beacon light emitted by the second ATP system and perform capture, pointing, and tracking operations. The specific process is also described above; it will not be repeated here. In this way, both the first optical device 101 and the second optical device 102 can adjust the pointing of their ATP systems. This ensures precise correction of the pointing of both ATP systems and enables them to continuously and stably track each other, ensuring the stability of the space optical communication link establishment, the stability and reliability of the space optical communication link, and improving the communication strength between the first optical device 101 and the second optical device 102 based on this space optical communication link.

[0120] Taking the first optical device 101 as an example, this embodiment does not limit the type of the first optical device 101. For example, the first optical device 101 can be a free-space optical communication (FSO) terminal, specifically such as a ground FSO terminal (e.g., intercity or inter-building optical communication), a laser communication terminal, a satellite, a space station, quantum communication equipment, transportation equipment, unmanned equipment (e.g., drones, unmanned boats, robots, unmanned patrol vehicles), indoor or outdoor mobile terminals or fixed terminals, etc. Mobile terminals can be vehicles, airplanes, ships, balloons, etc. Fixed terminals can be ground base stations, terminals in offices, terminals in furniture stores, parks, ports, coal mines, etc. For a description of the type of second optical device, please refer to the description of the structure of the first optical device; specific details will not be repeated here.

[0121] by Figure 1 Taking the optical communication system shown as an example applied to a space optical communication system, the first optical device 101 can be a ground station terminal, and the second optical device 102 can be a satellite terminal. Combined with... Figure 2 The diagram illustrates the link establishment process between the first optical device 101 and the second optical device 102. The first optical device 101, to be linked, obtains the direction of the uncertain region through a positioning system or other means. For example, taking the link establishment process initiated by the first optical device 101 as an example, the first beacon light emitted by the first optical device 101 covers the direction of the uncertain region. Specifically, the first optical device 101 scans the uncertain region along a specific trajectory until the second optical device 102 captures the position information of the first optical device 101. In this process, the majority of the time is consumed in the step of scanning the uncertain region.

[0122] The time T for the minimum scan uncertainty region can be expressed as:

[0123] Where A uLet A0 represent the size of the uncertain region, A0 represent the size of the scanned sub-region, and τ represent the time cost of obtaining a deterministic conclusion for each sub-region scan. Combined with... Figure 2 As shown, the connection direction between the first optical device 101 and the second optical device 102 is direction Z. The uncertain region is located in the plane XY, and direction Z intersects with plane XY, for example, direction Z is perpendicular to plane XY. The scanning sub-region is the size of the spot covered by the first beacon light emitted by the first optical device 101 in the uncertain region each time. According to this formula, the longest scanning time of the uncertain region can be optimized from these three parameters. For example, the attitude prediction accuracy can be improved by using star sensors, attitude calibration, or coordinate system calibration, thereby reducing A u For example, A0 can be increased by increasing the divergence angle of the first beacon beam. Alternatively, τ can be reduced by optimizing the system design. Among these methods, star sensors and coordinate system calibration are compatible with current traditional link establishment methods, which reduces the uncertainty region to a limited extent, but at a high cost. The challenge of increasing the divergence angle of the first beacon beam lies in the fact that a large divergence angle leads to very high link loss.

[0124] The communication method shown in this embodiment can effectively reduce the communication latency between the optical devices of both parties. For better understanding, the following will first combine... Figure 3 The optional structures of the first optical device and the second optical device are illustrated below, wherein, Figure 3 This is a first structural example diagram of the first optical device and the second optical device.

[0125] The first optical device 101 shown in this embodiment specifically includes a first ATP system 210. The first ATP system 210 includes a first transmitting unit control component 211, a first transmitting unit 212, a first receiving unit 213, a first receiving unit control component 214, a first tracking and aiming device 216, and a first synchronization unit 215. The second optical device 102 specifically includes a second ATP system 220. The second ATP system 220 includes a second transmitting unit control component 221, a second transmitting unit 222, a second receiving unit 223, a second receiving unit control component 224, a second tracking and aiming device 226, and a second synchronization unit 225. The first transmitting unit control component 211, the first receiving unit control component 214, and the first synchronization unit 215 of the first optical device 101 can be implemented by a processor, which may include one or more chips, or one or more integrated circuits. For example, the processor may include one or more of the following: neural processing unit (NPU), optical digital signal processor (oDSP), field-programmable gate array (FPGA), application-specific integrated circuit (ASIC), system on chip (SoC), central processing unit (CPU), network processor (NP), microcontroller unit (MCU), programmable logic device (PLD), network interface card chip, storage interface chip, or other integrated chip, etc. Specific details will not be elaborated further. Similarly, the second transmitting unit control component 221, the second receiving unit control component 224, and the second synchronization unit 225 of the second optical device 102 may be implemented by one or more processors.

[0126] based on Figure 3 The structures of the first and second optical devices shown are combined with... Figure 4 Describe the process by which the first optical device and the second optical device execute the communication method, wherein, Figure 4 A flowchart illustrating the steps of a first embodiment of the communication method provided in this application.

[0127] Step 401: The first optical device sends a first optical pulse sequence to the second optical device along the first direction.

[0128] Specifically, the first transmitting unit 212 of the first optical device emits a first optical pulse sequence along a first direction. See also [link to other documentation]. Figure 5 As shown, Figure 5 This is a second structural example diagram of the first optical device and the second optical device. The first reflection unit 212 specifically includes a first light source unit 501 and a first emission component 502. The first light source unit 501 may include a fiber laser, a semiconductor laser, a solid-state laser, a gas laser, a light-emitting diode (LED), etc. The first emission unit control component 211 is used to control the parameters of the first optical pulse sequence emitted by the first light source unit 501. For example, the peak power of the first optical pulse sequence is greater than 100 watts (W), thereby ensuring that the second optical device can successfully detect the first optical pulse sequence. Alternatively, the divergence angle of the first optical pulse sequence is in the range of 5 to 10 milliradians (mrad) to ensure that the first optical pulse sequence can be successfully transmitted to and detected by the second optical device. Or, the wavelength of the first optical pulse sequence is between 400 nanometers (nm) and 2000 nm to ensure that the second optical device can successfully detect and efficiently respond to the first optical pulse sequence. For example, the pulse width of the first optical pulse sequence is between 100 nanoseconds (ns) and 200 ns.

[0129] It should be clarified that this embodiment does not limit the parameter type or specific size of the first optical pulse sequence, as long as the first optical pulse sequence can be successfully transmitted to the second optical device and successfully detected by the second optical device to achieve the detection of the position of the first optical device by the second optical device. The first transmitting component 502 shown in this embodiment is used to expand the emitted optical signal (the optical signal includes the first optical pulse sequence). The first tracking and aiming device 216 includes a driving module and a controlled module. The controlled module may include a rotatable turntable, an arc swing table, a gyroscope, a motor, a piezoelectric ceramic driving mirror, etc. The driving module controls the controlled module (e.g., turntable, arc swing table, galvanometer, etc.) to move. The moving controlled module will change the light emission direction of the first transmitting component 502, thereby changing the transmission direction of the first optical pulse sequence emitted by the first transmitting component 502. This embodiment takes the first tracking and aiming device 216 controlling the first optical pulse sequence emitted by the first transmitting component 502 to transmit to the second optical device along a first direction as an example.

[0130] Combination Figure 6 As shown, where, Figure 6The illustration shows a first embodiment of the first and second optical pulse sequences provided in this application. The first optical pulse sequence includes K1 first optical pulses, where K1 is any integer greater than 1. The first optical pulse sequence is used by the second optical device to obtain the direction of sending the optical pulse sequence to the first optical device, thereby realizing the detection of the position of the first optical device.

[0131] Step 402: The second optical device sends a second optical pulse sequence to the first optical device along the second direction.

[0132] Specifically, the second transmitting unit 222 of the second optical device emits a second optical pulse sequence along a second direction. See also [link to other documentation]. Figure 5 As shown, the second reflection unit 222 specifically includes a second light source unit 513 and a second emitting component 514. For details, please refer to the descriptions of the first light source and the first emitting component; further details will not be repeated here. The second emitting unit control component 221 is used to control the parameters of the second light pulse sequence emitted by the second light source unit 513. For a description of the parameter types and values ​​of the second light pulse sequence, please refer to the descriptions of the parameter types and values ​​of the first light pulse sequence; further details will not be repeated here. The second tracking device 226 is used to control the second emitting component 514 to send the second light pulse sequence to the first optical device along a second direction. For a description of the second tracking device 226, please refer to the description of the first tracking device; further details will not be repeated here.

[0133] Combination Figure 6As shown, the second optical pulse sequence includes K2 second optical pulses, where K2 is any integer greater than 1. The second optical pulse sequence is used by the first optical device to obtain the direction of sending the optical pulse sequence to the second optical device, thereby realizing the detection of the position of the second optical device. In this embodiment, the first optical pulse sequence and the second optical pulse sequence satisfy a target condition, which is that at the same time, one of the peak values ​​of the first optical pulse sequence and the second optical pulse sequence is present. It can be understood that on the time axis, the times corresponding to the peak values ​​of the first optical pulse and the times corresponding to the peak values ​​of the second optical pulse are staggered. Specifically, the period of the first optical pulse sequence and the period of the second optical pulse sequence are both target period T. The period of the first optical pulse sequence being the target period T means that the starting time interval (or the length of time of repetition) between two adjacent optical pulses in the first optical pulse sequence is present. To achieve the staggered state on the time axis, the pulse leading edge of the second optical pulse sequence is time-separated from the pulse leading edge of the first optical pulse sequence by half of the target period T. In this embodiment, the pulse leading edge of the first optical pulse sequence refers to the time period during which the first optical pulse rises from the baseline (or minimum value) to its peak amplitude, reflecting the rise rate of the first optical pulse. Similarly, the pulse leading edge of the second optical pulse sequence refers to the time period during which the second optical pulse rises from the baseline (or minimum value) to its peak amplitude, reflecting the rise rate of the second optical pulse. It can be understood that, on the time axis, the pulse leading edges of the first and second optical pulses intersect. During the time period during which the first optical device sends the first optical pulse sequence to the second optical device, as shown in this embodiment, the second optical device can also send the second optical pulse sequence to the first optical device. This can accelerate the acquisition, pointing, and tracking process, thereby improving the efficiency and speed of communication between the first and second optical devices, and enhancing the robustness of the communication system. Specifically, if the first optical pulse sequence is interfered with or blocked, the second optical pulse sequence can still be received and detected by the second optical device. Furthermore, as shown in this embodiment, when the times corresponding to the peaks of the first optical pulse and the times corresponding to the peaks of the second optical pulse are interleaved, interference between the first and second optical pulse sequences is effectively suppressed. This reduces the difficulty for the first optical device to receive and detect the second optical pulse sequence, and also reduces the difficulty for the second optical device to receive and detect the first optical pulse sequence, thereby improving the accuracy of the acquisition, pointing, and tracking processes between the first and second optical devices. Moreover, improving the system's signal-to-noise ratio and increasing the divergence and reception angles allows for faster acquisition of the other optical device's position, thus increasing the speed of locking onto the other optical device.

[0134] Step 403: The first optical device receives a second optical pulse sequence from the second optical device along the second direction.

[0135] The first receiving unit 213 of the first optical device receives the second optical pulse sequence along the second direction. Optionally, the first optical device shown in this embodiment may further include a transceiver separation module. The transceiver separation module can separate the optical signal sent from the first optical device to the second optical device and the optical signal sent from the second optical device to the first optical device by utilizing the difference in frequency of the received and emitted optical signals or the difference in spatial size and position of the received and emitted optical signals. The first receiving unit 213 includes a first receiving component 504 and a first detection unit 503. The first tracking and aiming device 216 is used to adjust the light receiving direction of the first receiving component 504 to the second direction, so that the first receiving component 504 receives the second optical pulse sequence along the second direction. For an explanation of how the first tracking and aiming device 216 controls the light receiving direction of the first receiving component 504, please refer to the explanation of how the first tracking and aiming device 216 controls the light emission direction of the first emitting component 502, which will not be elaborated here. Optionally, the first receiving component 504 can be used to beam-concentrate the optical signal (including the second optical pulse sequence) and transmit the beam-concentrated optical signal to the first detection unit 503 to improve the coupling efficiency of the second optical pulse sequence transmitted to the first detection unit 503. For example, the first detection unit 501 can be a multi-quadrant sensor, a photosensitive pixel sensor, a position-sensitive detector, etc. Furthermore, the optical entrance pupil of the first receiving component 504 can be between 20 and 150 mm, and the focal length between 50 mm and 1000 mm. The optical entrance pupil of the first receiving component 504 is the aperture through which the first receiving component 504 effectively receives light. The first transmitting component 502 and the first receiving component 504 shown in this embodiment can share some optical components, such as lenses and lens groups, and are not specifically limited.

[0136] Optionally, during the target time period when the first transmitting unit 212 transmits the first optical pulse sequence, the first receiving unit 213 is in a non-operational state, thereby shielding the interference of stray light inside the first optical device and improving accuracy.

[0137] Step 404: The first optical device sends a third optical pulse sequence to the second optical device along a third direction.

[0138] In this embodiment, when the first detection unit 503 receives the second optical pulse sequence, it performs photoelectric conversion on the second optical pulse sequence to obtain a second electrical signal. The first detection unit 503 then sends the second electrical signal to the first receiving unit control component 214. The first receiving unit control component 214 first performs analog-to-digital conversion on the second electrical signal to obtain a corresponding digital signal. The first receiving unit control component 214 processes the digital signal and can send first synchronization information to the first synchronization unit 215. The first synchronization information is used to indicate the time information of the second optical pulse sequence from the second optical device, such as the period of the second optical pulse sequence, or the timestamp of each second optical pulse in the second optical pulse sequence. The first synchronization unit 215 controls the time of each of the K3 third optical pulses in the third optical pulse sequence emitted by the first light source unit 501 according to the first synchronization information. Wherein, K3 is any integer greater than 1. In this embodiment, it corresponds to one of the peak values ​​of the second optical pulse sequence and the third optical pulse sequence at the same time. For a specific explanation, please refer to the above description of one of the peak values ​​of the first optical pulse sequence and the second optical pulse sequence at the same time. Detailed explanation will not be repeated here.

[0139] The first receiving unit control component 214 processes the digital signal, thereby controlling the first tracking and aiming device 216 to adjust the light emission direction of the first transmitting component 502, so that the first transmitting component 502 transmits the third light pulse sequence emitted from the first light source unit 501 to the second optical device along a third direction. In this embodiment, there is a first angle between the first direction and the target connection line, and a second angle between the third direction and the target connection line. The absolute value of the second angle is less than the absolute value of the first angle, and the target connection line is the connection line between the first optical device and the second optical device. In this embodiment, the direction in which the first optical device sends the light pulse sequence to the second optical device is switched from the first direction to the third direction, which can reduce the angular deviation between the pointing direction of the first ATP system of the first optical device and the target connection line. Specifically, the pointing direction of the first ATP system refers to the current actual pointing direction of the first optical device 101, including the first ATP system, used to establish and maintain an optical link with the second optical device. Specifically, the pointing direction of the first ATP system is the optical axis direction of the first ATP system, that is, the actual spatial pointing direction of its emitted light pulse sequence. The target connection is the theoretically ideal connection direction between the first ATP system and the second ATP system (i.e., the geometric straight line direction between the first optical device 101 and the second optical device 102). Angular deviation refers to the angular deviation between the direction of the first ATP system and the target connection. By switching the direction of the first ATP system from a first direction to a third direction, the angular deviation can be reduced, ensuring the stability of the space optical communication link establishment, the stability and reliability of the space optical communication link, and improving the communication strength between the first optical device 101 and the second optical device 102 based on this space optical communication link.

[0140] Step 405: The second optical device receives the first optical pulse sequence from the first optical device along the first direction.

[0141] The second receiving unit 223 of the second optical device receives the first optical pulse sequence along the first direction. Optionally, the second optical device shown in this embodiment may further include a transceiver separation module. The transceiver separation module can separate the optical signal sent from the first optical device to the second optical device and the optical signal sent from the second optical device to the first optical device by utilizing the difference in frequency of the received and transmitted optical signals or the difference in spatial size and position of the received and transmitted optical signals. The second receiving unit 223 includes a second receiving component 512 and a second detection unit 511. For a description of the second receiving component 512 and the second detection unit 511, please refer to the description of the first receiving component and the first detection unit included in the first optical device, which will not be repeated here. The second receiving component 512 is used to bundle the optical signal (including the first optical pulse sequence) and transmit the bundled optical signal to the second detection unit 511 to improve the coupling efficiency of the first optical pulse sequence transmitted to the second detection unit 511. For a description of the second detection unit 511, please refer to the description of the first detection unit 501 shown above, which will not be repeated here.

[0142] Step 406: The second optical device sends a fourth optical pulse sequence to the first optical device along the fourth direction.

[0143] In this embodiment, when the second detection unit 511 receives the first optical pulse sequence, it performs photoelectric conversion on the first optical pulse sequence to obtain a first electrical signal. The second detection unit 511 then sends the first electrical signal to the second receiving unit control component 224. The second receiving unit control component 224 first performs analog-to-digital conversion on the first electrical signal to obtain a corresponding digital signal. The second receiving unit control component 224 processes the digital signal and can send second synchronization information to the second synchronization unit 225. The second synchronization information is used to indicate the time information of the first optical pulse sequence from the first optical device, such as the period of the first optical pulse sequence, or the start and end times of each first optical pulse in the first optical pulse sequence. The second synchronization unit 225 controls the time of each of the K4 fourth optical pulses in the fourth optical pulse sequence emitted by the second light source unit 513 according to the second synchronization information. Here, K4 is any integer greater than 1. In this embodiment, it corresponds to one of the peak values ​​of the third optical pulse sequence and the fourth optical pulse sequence at the same time. For a specific explanation, please refer to the above description of corresponding to one of the peak values ​​of the first optical pulse sequence and the second optical pulse sequence at the same time.

[0144] The second receiving unit control component 224 processes the digital signal, thereby controlling the second tracking and aiming device 226 to adjust the light emission direction of the second transmitting component 514, so that the second transmitting component 514 transmits the fourth light pulse sequence emitted from the second light source unit 513 to the first optical device along the fourth direction. In this embodiment, there is a third angle between the second direction and the target line, and there is a fourth angle between the fourth direction and the target line. The absolute value of the fourth angle is less than the absolute value of the third angle. In this embodiment, the direction in which the second optical device sends the light pulse sequence to the first optical device is switched from the third direction to the fourth direction, which can reduce the angular deviation between the pointing of the second ATP system of the second optical device and the target line. For details, please refer to the above description of reducing the angular deviation between the pointing of the first ATP system of the first optical device and the target line. Upon receiving the fourth light pulse sequence, the first optical device can detect the position of the second optical device, thereby realizing the spatial optical communication process between the first and second optical devices.

[0145] Figure 6 As shown, taking the first optical pulse sequence as an example, and assuming that the energies of different first optical pulses in the first optical pulse sequence are equal or approximately equal, without limitation, for example, Figure 7 The illustration shows a second embodiment of the first and second optical pulse sequences provided in this application. The energy of the first optical pulse refers to the energy integral of a single first optical pulse over time. Figure 7The first optical pulse sequence shown includes K1 first optical pulses, specifically a first target optical pulse 701 and a second target optical pulse 702. The energy of the first target optical pulse 701 is not equal to the energy of the second target optical pulse 702. For example, the energy of the first target optical pulse 701 is greater than or equal to twice the energy of the second target optical pulse 702. This embodiment does not limit the magnitude relationship or difference between the energies of the first target optical pulse 701 and the second target optical pulse 702. This embodiment takes as an example where the moment the first optical device emits the first target optical pulse 701 is adjacent to the moment it emits the second target optical pulse 702 in the K1 first optical pulses, without limitation. For example, the first optical device can continuously emit multiple first target optical pulses 701 and then send one or more second target optical pulses 702. This embodiment takes two target optical pulses with unequal energies as an example, namely the first target optical pulse and the second target optical pulse. In other examples, the first optical pulse sequence may also include a third target optical pulse, the energy of which is not equal to the energy of the first target optical pulse and the energy of the second optical pulse. For explanations of the K2 second optical pulses included in the second optical pulse sequence, the K3 third optical pulses included in the third optical pulse sequence, and the K4 fourth optical pulses included in the fourth optical pulse sequence, please refer to the explanation of the K1 first optical pulses included in the first optical pulse sequence; details will not be repeated here. Figure 7 As shown, the first optical pulse sequence in this embodiment, based on the energy of the first target optical pulse 701 and the second target optical pulse 702 with different energies, can improve the dynamic detection range, thereby improving the success rate and reliability of the communication process of acquisition, tracking and aiming between the first optical device and the second optical device.

[0146] In the above embodiments, taking the first light source of the first optical device as including a laser, and the first light pulse sequence emitted by the laser as an example, the method is not limited. Alternatively, the first light source may include a laser array comprising L lasers, where L is any integer greater than 1 and less than or equal to K1. This embodiment does not limit the number of lasers included in the laser array. The laser array shown in this embodiment is used to emit the first light pulse sequence. For a description of the first light pulse sequence, please refer to the above description; specific details will not be repeated here. Specifically, among the L lasers included in the laser array, different lasers can emit different first light pulses included in the first light pulse sequence. For example, in the first light pulse sequence emitted by the first optical device, the time interval between any two adjacent first light pulses is 10 ns. Then, the first transmitting unit control component can assign different trigger delays (e.g., in 10 ns increments) to each laser included in the laser array. The triggered laser then emits a first light pulse. As shown in this embodiment, the laser array includes multiple lasers that work together to increase the system's peak power while reducing the power requirement for individual lasers, thus achieving flexibility in far-field distribution. The second light source of the second optical device shown in this embodiment can also be implemented using a laser array. For details, please refer to the description of the first light source of the first optical device being implemented using a laser array; further details will not be elaborated here.

[0147] In this embodiment, to improve the isolation and anti-interference capability between the optical pulse sequence emitted and received by the first optical device, each first optical pulse in the first optical pulse sequence emitted by the first optical device has a first waveform, while each second optical pulse in the second optical pulse sequence received by the first optical device from the second optical device has a second waveform, and the first waveform is different from the second waveform. Because the first optical device in this embodiment simultaneously transmits the first optical pulse sequence to the second optical device and receives the second optical pulse sequence from the second optical device, and the first waveform of the first optical pulse is different from the second waveform of the second optical pulse, the first and second optical pulse sequences differ in the time and frequency domains. This allows the first optical device to effectively separate the second optical pulse sequence from the interference signal through signal processing (such as filtering), and also allows the second optical device to effectively separate the first optical pulse sequence from the interference signal through signal processing, thus improving the isolation and anti-interference capability. The first waveform of the first optical pulse being different from the second waveform of the second optical pulse in this embodiment can be exemplified by the following examples:

[0148] Example 1

[0149] The difference between the first waveform and the second waveform lies in the fact that, in either the first waveform or the second waveform, one waveform is a sine wave and the other is a frequency-modulated wave. For example, taking the first waveform as a sine wave and the second waveform as a frequency-modulated wave, then the modulation format of the first optical pulse by the first optical device is sine wave modulation, that is, the first optical device fills the pulse duration of each first optical pulse with a single-frequency sine wave. The modulation format of the second optical pulse by the second optical device is frequency-modulated wave modulation, that is, the frequency changes linearly within the pulse duration of each second optical pulse.

[0150] Example 2

[0151] Both the first waveform and the second waveform are sine waves. The difference between the first waveform and the second waveform is that the sinusoidal frequency of the first waveform is different from that of the second waveform. Specifically, the sinusoidal frequency of the first waveform refers to the number of complete cycles completed by the sine wave corresponding to each first optical pulse within a unit time (typically 1 second). The sinusoidal frequency of the second waveform refers to the number of complete cycles completed by the sine wave corresponding to each second optical pulse within a unit time (typically 1 second).

[0152] Example 3

[0153] Both the first waveform and the second waveform are frequency-modulated (FM) waves. The difference between the first waveform and the second waveform is that the FM slope of the first waveform is different from that of the second waveform. The FM slope of the first waveform refers to the rate at which the frequency changes with time during the pulse duration of the first optical pulse, and the FM slope of the second waveform refers to the rate at which the frequency changes with time during the pulse duration of the second optical pulse.

[0154] Example 4

[0155] The first waveform differs from the second waveform in that the envelopes of the first waveform and the second waveform are offset. The envelope of the first waveform refers to the contour of the amplitude change of the first optical pulse over time. The envelope of the second waveform refers to the contour of the amplitude change of the second optical pulse over time. The offset between the envelopes of the first and second waveforms means that the envelopes of each first optical pulse in the first optical pulse sequence are offset from the envelopes of each second optical pulse in the second optical pulse sequence in time or space. For example, at the same moment, one of the envelopes of the first waveform and the second waveform is offset.

[0156] Example 5

[0157] The first waveform differs from the second waveform in that the frequency modulation slope of the first waveform is different from the frequency modulation slope of the second waveform. The frequency modulation slope of the first waveform refers to the parameter of the rate at which the frequency of the first optical pulse changes with time during the pulse duration. The frequency modulation slope of the second waveform refers to the parameter of the rate at which the frequency of the second optical pulse changes with time during the pulse duration.

[0158] Example 6

[0159] The first waveform differs from the second waveform in that the phase of the first waveform is offset from the phase of the second waveform. Specifically, the phase offset between the first and second waveforms means that there is a difference between the initial phase or instantaneous phase of the first waveform and the initial phase or instantaneous phase of the second waveform.

[0160] Figure 8 This application provides a flowchart of an embodiment of the ranging method, which is used by a first optical device to measure the distance between the first optical device and a second optical device.

[0161] Step 801: The first optical device sends a first optical pulse sequence to the second optical device along the first direction.

[0162] The first optical pulse sequence shown in this embodiment includes a first ranging optical pulse, which can be any optical pulse included in the first optical pulse sequence. The first optical pulse sequence shown in this embodiment includes a first ranging optical pulse and non-ranging optical pulses. The light intensity, frequency, or modulation format of the first ranging optical pulse differs from that of the non-ranging optical pulse. The first optical device records a first transmission time, which is the time when the first optical device transmits the first ranging optical pulse. For a description of the first optical pulse sequence and the transmission of the first optical pulse sequence by the first optical device, please refer to [link to documentation]. Figure 4 The corresponding step 401 is shown below, and will not be elaborated further.

[0163] Step 802: The second optical device sends a second optical pulse sequence to the first optical device along the second direction.

[0164] The second optical pulse sequence shown in this embodiment includes a second ranging optical pulse, which can be any optical pulse included in the second optical pulse sequence. The second optical pulse sequence shown in this embodiment includes both a second ranging optical pulse and a non-ranging optical pulse. The intensity, frequency, or modulation format of the second ranging optical pulse differs from that of the non-ranging optical pulse. The second optical device records a second transmission time, which is the time when the second optical device transmits the second ranging optical pulse. For a description of the second optical pulse sequence and the transmission of the second optical pulse sequence by the second optical device, please refer to [link to documentation]. Figure 4 The corresponding step 402 is shown below, and will not be elaborated further.

[0165] Step 803: The first optical device receives a second optical pulse sequence from the second optical device along the second direction.

[0166] For a description of the execution process of step 803 in this embodiment, please refer to [link to documentation]. Figure 4 The corresponding step 403 is shown below, and will not be elaborated further.

[0167] Step 804: The second optical device sends the first arrival time to the first optical device.

[0168] When the second optical device receives the first optical pulse sequence, it records the first arrival time, which is the time when the first ranging optical pulse arrives at the second optical device. This embodiment does not limit the method by which the second optical device sends the first arrival time to the first optical device. For example, the second optical device sends a signal light to the first optical device, which carries the first arrival time and the service that the second optical device needs to send to the first optical device.

[0169] Step 805: The first optical device sends the second arrival time to the second optical device.

[0170] When the first optical device receives the second optical pulse sequence, it records the second arrival time, which is the time when the second ranging optical pulse arrives at the first optical device. This embodiment does not limit the method by which the first optical device sends the second arrival time to the second optical device. For example, the first optical device sends a signal light to the second optical device, which carries the second arrival time and the service that the first optical device needs to send to the second optical device.

[0171] Step 806: The first optical device obtains the first distance based on the first transmission time and the first arrival time.

[0172] The first optical device can measure a first distance based on the time-of-flight (ToF) method. This first distance is the spatial distance between the first optical device and the second optical device. Here, d = C * Δt / 2, where d is the first distance, Δt is the difference between the first arrival time and the first transmission time, and c is the speed of light.

[0173] Step 807: The second optical device obtains the second distance based on the second transmission time and the second arrival time.

[0174] The second distance is the spatial distance between the first optical device and the second optical device. The process of the second optical device measuring the second distance according to the second transmission time and the second arrival time is described in step 806. The first optical device measures the first distance according to the first transmission time and the first arrival time. The details will not be repeated here.

[0175] Step 808: The first optical device sends a third optical pulse sequence to the second optical device along a third direction.

[0176] Step 809: The second optical device receives the first optical pulse sequence from the first optical device along the first direction.

[0177] Step 810: The second optical device sends a fourth optical pulse sequence to the first optical device along the fourth direction.

[0178] As shown in steps 808 to 810 of this embodiment, please refer to... Figure 4 The corresponding steps 404 to 406 are shown and will not be elaborated further. The third optical pulse sequence shown in this embodiment may also include a first ranging optical pulse, so that the first optical device can measure the distance between the first optical device and the second optical device according to the first ranging optical pulse. The fourth optical pulse shown in this embodiment may include a second ranging optical pulse, so that the second optical device can measure the distance between the first optical device and the second optical device according to the second ranging optical pulse. For the specific measurement process, please refer to the above description and will not be elaborated further.

[0179] The following combination Figure 9 The diagram illustrates the optional structures of the optical device, in which... Figure 9 This application provides an example structural diagram of an embodiment of an optical device. The optical device 900 shown in this embodiment includes a processor 930, a coarse tracking unit 910, and a fine tracking unit 920. For a description of the type of processor 930, please refer to the above description; specific details will not be repeated here. The coarse tracking unit 910 includes a main antenna 901, a tracking and aiming device 902, a coarse transmission unit 911, a first beam splitting unit 905, a second beam splitting unit 907, a service detector 906, and a coarse detector 908. The fine tracking unit 920 includes a fine tracking mirror 921, a beam splitting optical system 922, a fine tracking detector 923, a signal light source 925, and a fine transmission unit 926.

[0180] The main antenna 901 includes a telescope, typically a large-aperture reflecting (such as a Cassegrain telescope) or refractive optical system, responsible for receiving or transmitting optical signals. The main antenna 901 may also include a beam-expanding optical system. The tracking and aiming device 902 adjusts the overall pointing of the main antenna 901, such as adjusting the light output direction of the main antenna 901 to a first direction. The coarse transmission unit 911, used for coarse tracking, sends a sequence of optical pulses to the main antenna 901. A description of this optical pulse sequence can be found in the description of the first optical pulse sequence described above, and will not be repeated here. A description of the coarse transmission unit 911 can be found in the description of the first light source described above, and will not be repeated here. This embodiment uses the example of the coarse transmission unit 911 being separate from the main antenna 901. In other examples, the main antenna 901 may also include the coarse transmission unit 911. The main antenna 901 is used to receive optical signals from another optical device. This embodiment uses an example of the optical signal including a second optical pulse sequence and service light. A description of the second optical pulse sequence can be found in the above embodiment, and will not be repeated here. The service light shown in this embodiment is an optical signal carrying the service. The main antenna 901 transmits the received optical signal to the first beam splitter 905. The first beam splitter 905 splits the optical signal into a second optical pulse sequence and the service light. The first beam splitter 905 sends the service light to the service detector 906. The detector 906 performs photoelectric conversion on the service light to obtain the service electrical signal and sends the service electrical signal to the processor 930. The first beam splitter 905 can perform beam splitting based on the wavelength, polarization, etc., of the service light and the second optical pulse sequence; there is no specific limitation. For example, the first beam splitter 905 can be a beam splitter or a color splitter. The second beam splitter 907 sends the second optical pulse sequence to the coarse detector 908. For a description of the second beam splitter 907, please refer to the description of the first beam splitter 905; details will not be repeated here. The coarse detector 908 performs photoelectric conversion on the second optical pulse sequence to obtain the corresponding electrical signal and sends the electrical signal to the processor 930. For a description of the processor 930's processing of the electrical signal corresponding to the second optical pulse sequence, please refer to the above embodiment; details will not be repeated here.

[0181] Based on the coarse tracking unit 910, the optical device has detected the approximate range where another optical device is located. The optical device then uses the fine tracking unit 920 to precisely locate the other optical device within this approximate range. To this end, the fine tracking unit 920 includes a fine emission unit 926 that sends a third optical pulse sequence to the beam splitting optical system 922. For a description of the third optical pulse sequence, please refer to the above embodiment, which will not be elaborated further. The beam splitting optical system 922 can also receive signal light from the signal light source 925. The beam splitting optical system 922 can combine the third light pulse sequence and the signal light, and transmit the combined light signal to the fine tracking mirror 921. For example, the fine tracking mirror 921 can be a fast steering mirror (FSM). The fine tracking mirror 921 is used to adjust the light output direction within a small range when the light output direction of the main antenna 901 remains unchanged or changes slightly, so that the main antenna 901 receives the light signal (including the signal light and the third light pulse sequence) from the fine tracking unit 920 and emits it along a third direction. For an explanation of the third direction, please refer to the above embodiment, which will not be elaborated further.

[0182] In this embodiment, when the optical device and another optical device are aligned within a general range, after the optical device receives a sequence of optical pulses from the other optical device, it can send the sequence of optical pulses to the fine tracking detector 923 of the fine tracking unit 920, so as to achieve the purpose of precise locking of the position of the optical device within a general range.

[0183] This application also provides a processing apparatus. Figure 10 This is a structural example diagram of an embodiment of the processing apparatus provided in this application. The processing apparatus 1000 includes a transmitting unit control component 1001 and a receiving unit control component 1002, and further includes a synchronization unit 1003 connected to the transmitting unit control component 1001 and the receiving unit control component 1002. For detailed description, please refer to [link to documentation]. Figure 2 The corresponding explanations will not be elaborated upon here. The processing device 1000 shown in this embodiment may be a logic module or software in the processor of an optical device, or it may be a component or device in the processor, etc.

[0184] It should be understood that the specific process of each module performing the above-mentioned corresponding steps has been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0185] Figure 11This is a structural example diagram of an embodiment of the chip provided in this application. The chip 1100 (or processing system) includes at least one processing device 1110 and an interface 1120. The processing device 1110 can be a processing circuit within the chip 1100. The processing device 1110 can be coupled to a storage unit, calling instructions from the storage unit, enabling the chip 1100 to implement the methods shown in the embodiments of this application, executed by at least one of the transmitting unit control component, receiving unit control component, and synchronization unit. The interface 1120 can be an input / output circuit within the chip 1100, outputting processed information or inputting data or signaling information to be processed into the chip 1100 for processing. It is understood that the interface 1120 is used to implement signal transmission between at least one processing device 1110 and an external source. Optionally, the processing device 1110 can be implemented by one or more processors, including the one or more processors or the processing portion within the one or more processors. Optionally, the interface 1120 can include transceiver circuitry, a network interface card (NIC), input / output circuitry, or a communication interface, etc. The interface 1120 can provide program instructions to the processing device 1110, which executes the program instructions to implement at least one of the methods performed by the transmitting unit control component, the receiving unit control component, and the synchronization unit.

[0186] Optionally, the chip 1100 may also include the transmitting unit shown in the above embodiments.

[0187] Optionally, chip 1100 may also include the receiving unit shown in the above embodiments.

[0188] Optionally, the chip 1100 may also include the tracking and aiming device shown in the above embodiments.

[0189] This application also provides a lidar system, which specifically includes an ATP system. For a description of the ATP system, please refer to [link to relevant documentation]. Figure 2 The corresponding explanations will not be elaborated upon here.

[0190] This application also provides a computer-readable storage medium storing computer instructions for implementing at least one of the methods executed by the transmitting unit control component, the receiving unit control component, and the synchronization unit in the above-described method embodiments.

[0191] For example, when the computer program is executed by a computer, the computer can implement the method executed by at least one of the transmitting unit control component, the receiving unit control component, and the synchronization unit in the various embodiments of the above method.

[0192] This application also provides a computer program product comprising instructions that, when executed by a computer, implement the methods performed by at least one of the transmitting unit control component, the receiving unit control component, and the synchronization unit in the above-described method embodiments.

[0193] This application also provides a communication system, which includes multiple optical devices. For a description of the communication system, please refer to [link to documentation]. Figure 1 The corresponding explanations will not be elaborated upon here.

[0194] The following first combines Figure 12 The optional structures of the first detection device and the second detection device are described below, wherein, Figure 12 This is a first structural example diagram of the first detection device and the second detection device. The first detection device 1200 shown in this embodiment specifically includes a beacon light transmitting module 1201, a beacon light receiving module 1202, a control module 1203, and a first synchronization module 1204. The control module 1203 is connected to both the beacon light transmitting module 1201 and the beacon light receiving module 1202, and the first synchronization module 1204 is connected to the beacon light transmitting module 1201, the beacon light receiving module 1202, and the control module 1203. The second detection device 1210 specifically includes a beacon light transmitting module 1211, a beacon light receiving module 1212, a control module 1213, and a second synchronization module 1214. The control module 1213 is connected to both the beacon light transmitting module 1211 and the beacon light receiving module 1212, and the second synchronization module 1214 is connected to the beacon light transmitting module 1211, the beacon light receiving module 1212, and the control module 1213.

[0195] based on Figure 12 The structures of the first and second detection devices shown are combined with... Figure 13 Explain the process by which the first detection device and the second detection device execute the communication method, wherein, Figure 13 A flowchart illustrating the steps of a second embodiment of the communication method provided in this application.

[0196] Step 1301: The first detection device sends a first synchronization pulse sequence to the second detection device.

[0197] For example, if a first satellite includes a first detection device and a second satellite includes a second detection device, and the relative positions of the first and second satellites are constantly changing, then the first and second detection devices will have a large relative velocity and consequently a large relative angular velocity during the alignment process. To maximize the accuracy of acquisition, tracking, and aiming between the first and second detection devices during alignment, the first synchronization module included in the first detection device needs to be clock-synchronized with the second synchronization module included in the second detection device.

[0198] The first synchronization module specifically includes a first phase-locked loop (PLL), a first crystal oscillator circuit, and a first time slot indicator unit. The first PLL controls the frequency and phase of the first crystal oscillator circuit's output by adjusting the control voltage of the first crystal oscillator circuit, thereby achieving synchronization of the transmission and reception time slots between the first synchronization module of the first detection device and the second synchronization module of the second detection device. The duration of the transmission time slot is the time period occupied by the first detection device sending optical signals to the second detection device, and the duration of the reception time slot is the time period occupied by the second detection device sending optical signals to the first detection device. The second synchronization module of the second detection device includes a second PLL, a second crystal oscillator circuit, and a second time slot indicator unit. For detailed explanation, please refer to the description of the first synchronization module; further details are omitted here.

[0199] During the manufacturing process of the first and second synchronization modules, frequency and phase calibration is performed to ensure clock synchronization between the first crystal oscillator circuit of the first synchronization module and the second crystal oscillator circuit of the second synchronization module. Clock synchronization means that the frequency output by the first crystal oscillator circuit is synchronized with the frequency output by the second crystal oscillator circuit, and the phase output by the first crystal oscillator circuit is synchronized with the phase output by the second crystal oscillator circuit.

[0200] When the first and second detection devices are initially aligned (i.e., the optical signal emitted by the first detection device can be successfully received and photoelectric converted by the second detection device, and the optical signal emitted by the second detection device can be successfully received and photoelectric converted by the first detection device), it is necessary to perform a clock synchronization process between the first and second synchronization modules to ensure that they are in a clock-synchronized state. To this end, the first time slot control unit of the first synchronization module of the first detection device obtains the duration segments of multiple transmission time slots based on the frequency and phase output by the first crystal oscillator circuit. Different transmission time slots have the same duration segment, and the time interval between any two adjacent transmission time slots is equal. The first time slot control unit of the first synchronization module sends a transmission time slot indication to the control module 1203, which indicates the start time and duration segment of each transmission time slot. The control module of the first detection device can be implemented by a processor, which may include one or more chips, or one or more integrated circuits. For example, the processor may include one or more NPUs, oDSPs, FPGAs, ASICs, SoCs, CPUs, NPs, MCUs, PLDs, network card chips, storage interface chips, or other integrated chips, etc., which will not be elaborated further. The control module, following the instructions of the transmission time slot indication, controls the beacon light transmitting module to emit a synchronization pulse during the duration of each transmission time slot. This causes the first detection device to send a first synchronization pulse sequence comprising multiple synchronization pulses to the second detection device, with each synchronization pulse occupying the duration of a transmission time slot determined by the first synchronization module. Specifically, the beacon light transmitting module of the first detection device includes a first light source; a description of the first light source can be found in [link to relevant documentation]. Figure 5 The corresponding explanations are not detailed here. The first light source may also include any one of the following: an edge-emitting laser (EEL), a pulsed vertical-cavity surface-emitting laser (VCSEL), or a photonic crystal surface-emitting laser (PCSEL). The control module controls the first light source to emit light during the duration of each emission time slot, according to the emission time slot indication. For a description of the beacon light emission module of the second detection device, please refer to the description of the beacon light emission module of the first detection device; details are not detailed here.

[0201] The beacon light receiving module of the second detection device receives the first synchronization pulse from the first detection device, converts the first synchronization pulse into an electrical signal, and sends the converted electrical signal to the control module. The beacon light receiving module of the second detection device may include a second detection unit, which may include any one of the following: a four-quadrant photodiode (PD), a four-quadrant avalanche photodiode (APD), a linear photodiode array (PD array), a linear avalanche photodiode array (APD array), an area photodiode array (PD array), an area avalanche photodiode array (APD array), an annular photodiode array (PD array), or an annular avalanche photodiode array (APD array). For a description of the first detection unit included in the beacon light receiving module of the first detection device, please refer to the description of the second detection unit; details will not be repeated here. The control module can be implemented by a processor; for a description of the control module of the second detection device, please refer to the description of the control module of the first detection device; details will not be repeated here. The control module measures the first time interval between two adjacent synchronization pulses in the first synchronization pulse sequence. The control module also obtains the output frequency of the second crystal oscillator circuit of the second synchronization module and predicts the second time interval between two adjacent first synchronization pulses based on the output frequency of the second crystal oscillator circuit. The control module of the second detection device controls the magnitude of the control voltage applied to the second crystal oscillator circuit by the second phase-locked loop by comparing the first time interval with the second time interval, thereby achieving frequency synchronization between the first and second synchronization modules. The control module of the second detection device detects the first time when each first synchronization pulse actually arrives at the second detection device. The control module of the second detection module predicts the second time when each first synchronization pulse arrives by using the output phase of the second crystal oscillator circuit of the second synchronization module. The control module controls the magnitude of the control voltage applied to the second crystal oscillator circuit by the second phase-locked loop by comparing the first time with the second time, thereby achieving phase synchronization between the first and second synchronization modules.

[0202] Step 1302: The second detection device sends a second synchronization pulse sequence to the first detection device.

[0203] When the first detection device receives the second synchronization pulse sequence from the second detection device, it performs frequency synchronization and phase synchronization. For a detailed explanation of the process, please refer to the explanation of the second detection device performing frequency synchronization and phase synchronization when it receives the first synchronization pulse sequence shown in step 1301. Detailed explanation will not be repeated here.

[0204] In this embodiment, steps 1301 and 1302 can be executed multiple times until the first synchronization module and the second synchronization module achieve clock synchronization.

[0205] Step 1303: The first detection device sends a first beacon light to the second detection device along the first direction.

[0206] When the clocks of the first synchronization module of the first detection device and the second synchronization module of the second detection device are synchronized, the first synchronization module indicates the duration of the transmission time slot to the control module. For an explanation of the duration of the transmission time slot, please refer to the above description; further details will not be repeated here. The control module controls the first light source in the beacon light emission module to emit first beacon light within the duration of each transmission time slot. The first detection device emits multiple first beacon lights (also referred to as the first light pulse as shown in the above embodiment) along a first direction (which can also be understood as the first direction shown in the above embodiment). The first direction is the deviation angle relative to the optical axis of the first detection device. Specifically, the beacon light emission module of the first detection device includes a first light source and an emission optical system. The emission optical system is used to adjust the optical path of the first beacon light emitted by the first light source during the duration of the transmission time slot occupied by the first light source. For example, the emission optical system is used to expand the beam of the first beacon light from the first light source. For example, the emission optical system may include a lens, lens group, etc., and is not specifically limited.

[0207] The control module controls the first direction of multiple first beacon beams emitted from the transmitting optical system to ensure that the first beacon beams can be successfully transmitted to and detected by the second detection device. In addition to a processor, the control module may also include a drive module and a controlled module. The controlled module may include a rotatable turntable, an arc stage, a gyroscope, a motor, a piezoelectric ceramic driving mirror, etc. The drive module controls the movement of the controlled module (e.g., turntable, arc stage, galvanometer, etc.). The moving controlled module changes the light output direction of the transmitting optical system, thereby changing the transmission direction of the multiple first beacon beams emitted by the transmitting optical system.

[0208] Step 1304: The second detection device sends a second beacon light to the first detection device along the second direction.

[0209] When the second synchronization module of the second detection device is clock-synchronized with the first synchronization module of the first detection device, the second synchronization module indicates the duration of the transmission time slot to the control module. For a description of the duration of the transmission time slot, please refer to the above description; further details will not be repeated here. The control module controls the second light source in the beacon light emission module to emit second beacon light within the duration of each transmission time slot. The second detection device emits multiple second beacon lights (also referred to as the second light pulse as shown in the above embodiment) along a second direction (which can also be understood as the second direction shown in the above embodiment). The second direction is the deviation angle relative to the optical axis of the second detection device. Specifically, the beacon light emission module of the second detection device includes a second light source and an emission optical system. The description of the second light source is the same as that of the first light source of the first detection device; further details will not be repeated here. The emission optical system is used to adjust the optical path of the second beacon light emitted by the second light source during the duration of the transmission time slot. For example, the emission optical system is used to expand the beam of the second beacon light from the second light source. For example, the emission optical system may include a lens, lens group, etc., without specific limitations.

[0210] The control module controls the second direction of multiple second beacon beams emitted from the transmitting optical system to ensure that the second beacon beams can be successfully transmitted to and detected by the first detection device. For an explanation of how the control module of the second detection device changes the transmission direction of the second beacon beams, please refer to the explanation of how the control module of the first detection device changes the transmission direction of the first beacon beams; details will not be repeated here.

[0211] Step 1305: The first detection device receives the second beacon light from the second detection device along the second direction.

[0212] The beacon light receiving module of the first detection device specifically includes a first detection unit. Taking the first detection device as always being on as an example, the control module of the first detection device determines the duration of the receiving time slot based on the instruction from the first synchronization module. The control module can then determine that the optical signal received by the first detection unit during the duration of the receiving time slot is the second beacon light from the second detection device. The control module can also determine that the optical signal received by the first detection unit during the duration of the non-receiving time slot is not the second beacon light. The duration of the non-receiving time slot is different from the duration of the receiving time slot. Alternatively, the control module of the first detection device can activate the first detection unit according to the duration of the receiving time slot indicated by the first synchronization module. When the first detection unit is on during the duration of the receiving time slot, it can detect the second beacon light from the second detection device and perform photoelectric conversion on the second beacon light. During the duration of the non-receiving time slot, the first detection unit is off and will not perform photoelectric conversion on the optical signal received in the non-receiving time slot. For example, the optical signal received by the first detection device during the non-receiving time slot is interference light reflected from inside or outside the first detection device to the beacon light receiving module. The receiving time slot determined by the first synchronization module shown in this embodiment can improve the efficiency and accuracy of detection.

[0213] The beacon light receiving module also includes a receiving optical system, which is used to adjust the optical path of the second beacon light to ensure that the first detection unit can successfully detect the second beacon light. For a description of the receiving optical system, please refer to the description of the transmitting optical system; details will not be repeated here. The transmitting and receiving optical systems can reuse at least some optical components (e.g., lenses). The control module of the first detection device is used to adjust the light-receiving direction of the receiving optical system to a second direction, so that the receiving optical system receives multiple second beacon lights along the second direction. For a description of the control module controlling the light-receiving direction of the receiving optical system, please refer to the description of the control device controlling the emission direction of the transmitting optical system; details will not be repeated here. Optionally, the receiving optical system can be used to beam-contract the second beacon light and transmit the beam-contracted second beacon light to the first detection unit to improve the coupling efficiency of the second beacon light transmission to the first detection unit.

[0214] like Figure 14 As shown, where, Figure 14This is an example diagram illustrating an embodiment of the first and second beacon lights provided in this application. In this embodiment, the first synchronization module of the first detection device controls the time period during which a second beacon light is received by the beacon light receiving module, which is located between the time periods during which two adjacent first beacon lights are emitted by the beacon light transmitting module among the K1 first beacon lights. Specifically, the first synchronization module of the first detection device determines the duration of multiple transmission time slots and the duration of multiple reception time slots. Among the duration of multiple transmission time slots, there is a duration of a reception time slot between two adjacent transmission time slots, thereby enabling the first detection device to receive a second beacon light from the second detection device and perform photoelectric conversion between two adjacent first beacon lights among the multiple first beacon lights. Among the multiple first beacon lights sent by the first detection device to the second detection device, there may be a situation where multiple second beacon lights from the second detection device are received between two adjacent first beacon lights; the specific situation is not limited. It can be understood that, on the timeline, multiple first beacon lights and multiple second beacon lights are staggered, meaning that at any given moment, one of the first or second beacon lights is present. Specifically, the peak times of the multiple first beacon lights and the peak times of the multiple second beacon lights are staggered. The peak time of the first beacon light refers to the time when it reaches its maximum amplitude in the time domain, and the peak time of the second beacon light refers to the time when it reaches its maximum amplitude in the time domain. Furthermore, within the same target time period, the first detection device emits multiple first beacon lights to the second detection device, and the first detection device also receives multiple second beacon lights from the second detection device. However, within this target time period, the first detection device receives one second beacon light from the second detection device between two adjacent first beacon lights. Because the first detection device emits multiple first beacon lights and receives multiple second beacon lights from the second detection device simultaneously within the same target time period, the acquisition, pointing, and tracking process between the first and second detection devices is effectively accelerated. This improves the efficiency and speed of communication between the first and second detection devices and enhances the robustness of the communication system. Specifically, if the first beacon light is interfered with or blocked within the target time period, the second beacon light can still be received and detected by the first detection device. Furthermore, as shown in this embodiment, the first detection device receives a second beacon light from the second detection device between two adjacent first beacon lights. This effectively suppresses interference between the first and second beacon lights, reduces the difficulty for both the first and second detection devices to receive and detect the second beacon light, and improves the accuracy of the acquisition, pointing, and tracking process between the first and second detection devices.Moreover, improving the system's signal-to-noise ratio and increasing the divergence and reception angles can enable faster acquisition of the opponent's detection device's location and increase the speed of locking onto the opponent's detection device.

[0215] The following explains the various options for the first and second beacon lights:

[0216] Option 1: In this embodiment, the wavelengths of the first beacon light and the second beacon light can be the same. Because the wavelengths of the first and second beacon lights are the same, the beacon light emitting modules of the first and second detection devices can use the same optical components (such as light sources and emitting optical systems), reducing the complexity of the detection device. Furthermore, it eliminates the need to configure different wavelength resources for beacon lights emitted in different directions, reducing the complexity of wavelength allocation and coordination. Moreover, the same wavelengths of the first and second beacon lights reduce alignment errors caused by wavelength differences, improving alignment accuracy.

[0217] Option 2: The K1 first beacon lights emitted by the first detection device include first beacon light i-1, first beacon light i, and first beacon light i+1. These first beacon lights i-1, i, and i+1 are sequentially adjacent among the K1 first beacon lights. The time interval between the peak times of first beacon light i-1 and first beacon light i is equal to the time interval between the peak times of first beacon light i and first beacon light i+1. The first detection device emits multiple first beacon lights at equal time intervals, which helps the second detection device accurately predict the duration of the received time slot of the first beacon light, improving the reliability of the alignment between the first and second detection devices. Furthermore, it reduces the complexity of the first synchronization module and control module in controlling the beacon light emission module of the first detection device to emit multiple first beacon lights, thus improving the efficiency and accuracy of alignment.

[0218] Option 3: The K1 first beacon lights emitted by the first detection device include first beacon light i-1, first beacon light i, and first beacon light i+1. First beacon light i-1, first beacon light i, and first beacon light i+1 are sequentially adjacent among the K1 first beacon lights. The time interval between the peak times of first beacon light i-1 and first beacon light i is not equal to the time interval between the peak times of first beacon light i and first beacon light i+1. It can be understood that the first detection device sends adjacent first beacon lights at unequal time intervals. For example... Figure 15 As shown, where, Figure 15This is an example diagram illustrating another embodiment of the first beacon light and the second beacon light provided in this application. The plurality of first beacon lights emitted by the first detection device include first beacon light i-1, first beacon light i, and first beacon light i+1, wherein the time interval between the peak times of first beacon light i-1 and first beacon light i is not equal to the time interval between the peak times of first beacon light i and first beacon light i+1. The first detection device emits multiple first beacon lights at unequal time intervals, which helps improve the anti-interference performance of the alignment process between the first detection device and the second detection device. Furthermore, the first detection device can dynamically and flexibly adjust the time interval between the peak times of two adjacent first beacon lights according to channel conditions, etc., thus improving the flexibility of alignment.

[0219] Option 4: Multiple first beacon lights emitted by the first detection device carry the first position information of the first detection device, and multiple second beacon lights received by the first detection device carry the second position information of the second detection device. For example, taking the first beacon light as an example, the control module of the first detection device controls the beacon light emitting module to modulate the first position information onto the first beacon light. Optionally, each first beacon light emitted by the first detection device may carry the first position information, or some of the multiple first beacon lights emitted by the first detection device may carry the first position information. For an explanation of the second beacon light carrying the second position information, please refer to the explanation of the first beacon light carrying the first position information, which will not be repeated here. When the first beacon light carries the first position information of the first detection device and the second beacon light carries the second position information of the second detection device, the efficiency and accuracy of the alignment between the first and second detection devices are effectively improved.

[0220] Option 5: Within the same target time period, the number of times the beacon light transmitting module of the first detection device transmits the first beacon light is equal to the number of times the beacon light receiving module of the first detection device receives the second beacon light. This equality ensures that the energy consumption of the first and second detection devices during the alignment process is consistent and that the time slot resources occupied by the first and second beacon light transmissions are balanced, improving communication efficiency. In this example, the first detection device receives one second beacon light between transmitting two adjacent first beacon light transmissions. Therefore, for every first beacon light transmitted, the first detection device receives one second beacon light, improving alignment accuracy. Furthermore, if the number of first beacon light transmissions by the first detection device is not equal to the number of second beacon light receptions within the same target time period, it indicates beacon light loss during alignment, allowing the first detection device to issue a timely alarm and improving anti-interference capabilities.

[0221] Option 6: Within the same target time period, the number of times the beacon light transmitting module of the first detection device transmits the first beacon light is not equal to the number of times the beacon light receiving module of the first detection device receives the second beacon light. Since the number of times the first detection device transmits the first beacon light is not equal to the number of times the second detection device transmits the second beacon light within the same target time period, the first detection device can dynamically adjust the number of times it transmits the first beacon light within the target time period based on its energy consumption and channel conditions (e.g., interference). Similarly, the second detection device can dynamically adjust the number of times it transmits the second beacon light within the target time period based on its energy consumption and channel conditions. This improves the flexibility of adjusting the timing of the first and second beacon light transmissions.

[0222] Option 7: Among the multiple first beacon lights emitted by the first detection device, the amplitudes of two different first beacon lights have the same distribution over time, which effectively improves alignment accuracy and efficiency. Even if there is interference or noise during the transmission of the first beacon light, the second detection device can accurately identify the first beacon light and reduce the false detection rate.

[0223] Option 8: Among the multiple first beacon lights emitted by the first detection device, the amplitude distribution of two different first beacon lights differs over time. When the amplitude distribution of the two first beacon lights differs over time, the change in amplitude over time can be used to indicate specific information, such as the identifier of the first detection device or the specific function of the first beacon light (e.g., for coarse alignment, fine alignment, tracking, etc.). The first detection device can dynamically match the amplitude distribution of the first beacon light over time according to channel conditions, so that when channel conditions change, the first detection device can emit first beacon lights with different amplitude distributions over time, improving the anti-interference capability of the first beacon light.

[0224] Option 9: The amplitude distribution over time of the first beacon light emitted by the first detection device differs from that of the second beacon light emitted by the second detection device. In this case, the amplitude variation of the first beacon light over time can be used to indicate specific information, such as the identifier of the first detection device or its specific function (e.g., for coarse alignment, fine alignment, tracking). Similarly, the amplitude variation over time of the second beacon light can be used to indicate specific information, such as the identifier of the second detection device or its specific function (e.g., for coarse alignment, fine alignment, tracking). The first detection device can dynamically match the amplitude distribution over time of the first beacon light according to channel conditions, thus enabling it to emit a first beacon light with different amplitude distributions over time when channel conditions change, improving its anti-interference capability. Likewise, the second detection device can dynamically match the amplitude distribution over time of the second beacon light according to channel conditions, thus enabling it to emit a second beacon light with different amplitude distributions over time when channel conditions change, improving its anti-interference capability.

[0225] Option 10: The pulse leading edge of the first beacon light emitted by the first detection device is staggered from the pulse leading edge of the second beacon light. Specifically, the pulse leading edges of the first and second beacon lights are spaced 0 to 1 target period T in time. The target period T refers to the time interval between the start of two adjacent first beacon lights among the multiple first beacon lights emitted by the first detection device. To achieve the goal of staggering the first and second beacon lights on the time axis, the pulse leading edges of the first and second beacon lights are ensured to be spaced 0 to 1 target period T in time. The pulse leading edge of the first beacon light refers to the time period during which the first beacon light rises from its baseline (or minimum value) to its peak amplitude, reflecting the rise rate of the first beacon light. Similarly, the pulse leading edge of the second beacon light refers to the time period during which the second beacon light rises from its baseline (or minimum value) to its peak amplitude, reflecting the rise rate of the second beacon light. It is understandable that, on the time axis, the pulse leading edge of the first beacon light and the pulse leading edge of the second beacon light intersect. Therefore, the interference between the first beacon light and the second beacon light is effectively suppressed, reducing the difficulty for the first detection device to receive and detect the second beacon light and reducing the difficulty for the second detection device to receive and detect the first beacon light, thereby improving the accuracy of the acquisition, pointing and tracking process between the first detection device and the second detection device.

[0226] Option 11: The waveform of the first beacon light emitted by the first detection device, after Fourier expansion, has one or more different frequencies. Specifically, the control module of the first detection device sends a modulation signal to the beacon light transmitting module. The beacon light transmitting module modulates according to the modulation signal so that the waveform of the emitted first beacon light, after Fourier expansion, has one or more different frequencies. The modulation signal may include frequency modulation signals of one or more frequencies. The first detection module can dynamically adjust the number of frequencies of the first beacon light waveform after Fourier expansion according to different scenarios. For example, if it is required for long-distance alignment, the waveform of the first beacon light emitted by the first detection module has one frequency after Fourier expansion to improve the spectral energy concentration of the first beacon light and improve the utilization rate of the emission power of the first detection device. Alternatively, if it is required for anti-interference scenarios or high-precision measurement scenarios, the waveform of the first beacon light emitted by the first detection module has multiple different frequencies after Fourier expansion. For an explanation of the waveform of the second beacon light emitted by the second detection device having one or more different frequencies after Fourier expansion, please refer to the explanation of the waveform of the first beacon light emitted by the first detection device having one or more different frequencies after Fourier expansion. Specific details will not be repeated here.

[0227] Option 12: The first beacon light emitted by the first detection device has a first waveform, and the second beacon light emitted by the second detection device has a second waveform. The first waveform is different from the second waveform. For an explanation of the difference between the first waveform and the second waveform, please refer to the explanation of the difference between the first waveform of the first light pulse and the second waveform of the second light pulse shown in the above embodiment. Specific details will not be repeated here.

[0228] Step 1306: The first detection device sends a first beacon light to the second detection device along the third direction.

[0229] In this embodiment, when the first detection unit in the beacon light receiving module of the first detection device receives the second beacon light, it performs photoelectric conversion on the second beacon light to obtain a second electrical signal, and sends the second electrical signal to the control module. The control module first performs analog-to-digital conversion on the second electrical signal to obtain the corresponding digital signal. The control module processes the digital signal to obtain the direction of the second beacon light emitted by the second detection device. According to the direction of the second beacon light emitted by the second detection device, the control module adjusts the output direction of the first beacon light emitted by the beacon light emitting module so that the first beacon light emitting module sends multiple first beacon lights to the second detection device along a third direction. For example, in step 1303, the first detection device emits L1 first beacon lights. In step 1306, the first detection device emits L2 first beacon lights according to the direction of the second beacon light emitted by the second detection device. L1 and L2 are any integers greater than or equal to 1, K1 = L1 + L2, and the K1 first beacon lights satisfy the optional cases. For the explanation of optional cases 1 to 11 above, please refer to the above optional cases 1 to 11, which will not be elaborated further. Wherein, the absolute value of the angle between the third pointing direction and the normal of the photosensitive surface of the second detection device is less than the absolute value of the angle between the first pointing direction and the normal of the photosensitive surface of the second detection device. The photosensitive surface of the second detection device is the photosensitive surface of the second detection unit in the beacon light receiving module included in the second detection device. The photosensitive surface of the second detection device is used to first detect L1 first beacon lights emitted by the first detection device after step 1303, and then to detect L2 first beacon lights emitted by the first detection device after step 1306.

[0230] In this embodiment, the direction of the beacon light emitted by the first detection device to the second detection device is switched from a first direction to a third direction, which reduces the angular deviation between the first beacon light emitted by the first detection device and the target connection line. That is, the absolute value of the angle between L2 first beacon lights and the target connection line is less than the absolute value of the angle between L1 first beacon lights and the target connection line. The target connection line is the theoretically ideal connection direction between the beacon light transmitting module of the first detection device and the beacon light receiving module of the second detection device (i.e., the geometric straight line direction between the first detection device and the second detection device). Switching the direction of the first beacon light emitted by the first detection device from a first direction to a third direction reduces the angular deviation, ensures the stability of the space optical communication link establishment, ensures the stability and reliability of the space optical communication link, and improves the communication strength between the first detection device and the second detection device based on the space optical communication link.

[0231] In this embodiment, the divergence angle of each of the L1 first beacon lights emitted by the first detection device is greater than the divergence angle of each of the L2 first beacon lights. The divergence angle of the first beacon light describes the degree of diffusion of the first beacon light along the target line direction during its propagation from the first detection device to the second detection device. The smaller the divergence angle of the first beacon light, the more concentrated its propagation and the higher its energy density; conversely, the larger the divergence angle, the wider its coverage area. If the divergence angle of each of the L1 first beacon lights is greater than that of each of the L2 first beacon lights, it indicates that the divergence angle of the first beacon lights gradually decreases during the emission of K1 first beacon lights by the first detection device. Therefore, the first detection device first expands the coverage area of ​​the first beacon lights using the L1 first beacon lights, improving the efficiency of scanning and capturing the second detection device. Then, the first detection device further improves the signal-to-noise ratio of the energy using the L2 first beacon lights with decreasing divergence angles, achieving high-precision alignment and tracking between the first and second detection devices. The control module of the first detection device can adjust the divergence angle of the first beacon lights by adjusting the emission optics system in the beacon light emission module.

[0232] Step 1307: The second detection device receives the first beacon light from the first detection device along the first direction.

[0233] For an explanation of how the second detection device receives the first beacon light along the first direction, please refer to the explanation of how the first detection device receives the second beacon light shown in step 1305. Specific details will not be repeated here.

[0234] Step 1308: The second detection device sends a second beacon light to the first detection device along the fourth direction.

[0235] For an explanation of how the second detection device sends a second beacon light to the first detection device along the fourth direction, please refer to the explanation of how the first detection device sends a first beacon light to the second detection device along the third direction as shown in step 1306. The specific details will not be repeated here.

[0236] When the first detection device changes the direction of the first beacon light emitted from the first direction to the third direction, and the second detection device changes the direction of the second beacon light emitted from the second direction to the fourth direction, the angular deviation of the interactive beacon light between the first and second detection devices can be reduced, ensuring the stability of the space optical communication link establishment, ensuring the stability and reliability of the space optical communication link, and improving the strength of communication between the first and second detection devices based on the space optical communication link.

[0237] based on Figure 12 The structures of the first and second detection devices shown are combined with... Figure 16The diagram illustrates the process by which the first detection device measures the distance between the first detection device and the second detection device. Figure 16 A flowchart illustrating another embodiment of the ranging method provided in this application.

[0238] Step 1601: The first detection device sends a first synchronization pulse sequence to the second detection device.

[0239] Step 1602: The second detection device sends a second synchronization pulse sequence to the first detection device.

[0240] For a description of the execution process of steps 1601 to 1602 in this embodiment, please refer to [link to documentation]. Figure 13 The corresponding steps 1301 to 1302 are shown below, and will not be described in detail.

[0241] Step 1603: The first detection device sends a first beacon light to the second detection device along the first direction.

[0242] In this embodiment, the first detection device sends one or more first beacon lights along a first direction to the second detection device, including a first ranging light. For a description of the first ranging light, please refer to... Figure 8 The specific details of the corresponding first ranging optical pulse are omitted here. The control module of the first detection device records the first transmission time, which is the time when the beacon light emitting module of the first detection device transmits the first ranging light. For a description of the first beacon light and the transmission of the first beacon light by the first detection device, please refer to [link to documentation]. Figure 13 The corresponding step 1303 is shown below, and will not be elaborated further.

[0243] Step 1604: The second detection device sends a second beacon light to the first detection device along the second direction.

[0244] In this embodiment, the second detection device sends one or more second beacon lights along a second direction to the first detection device, including a second ranging light. For a description of the second ranging light, please refer to... Figure 8 The specific details regarding the second ranging optical pulse are omitted here. The control module of the second detection device records the second transmission time, which is the time when the beacon light emitting module of the second detection device transmits the second ranging light. For an explanation of the second beacon light and the transmission of the second beacon light by the second detection device, please refer to [link to documentation]. Figure 13 The corresponding step 1304 is shown below, and will not be elaborated further.

[0245] Step 1605: The first detection device receives the second beacon light from the second detection device along the second direction.

[0246] For a description of the execution process of step 1605 in this embodiment, please refer to [link to documentation]. Figure 13The corresponding step 1305 is shown below, and will not be elaborated further.

[0247] Step 1606: The second detection device sends a first moment instruction to the first detection device.

[0248] When the second detection device receives the first beacon light, it records the first arrival time, which is the time when the first ranging light arrives at the second detection device. This embodiment does not limit the method by which the second detection device sends the first arrival time to the first detection device. For example, the second detection device sends a signal light to the first detection device, which carries a first time indication and the service that the second detection device needs to send to the first detection device. The first time indication is used to indicate the first arrival time.

[0249] Step 1607: The first detection device sends a second time indication to the second detection device.

[0250] When the first detection device receives the second beacon light, it records the second arrival time, which is the time when the second ranging light arrives at the first detection device. This embodiment does not limit the method by which the first detection device sends the second arrival time to the second detection device. For example, the first detection device sends a signal light to the second detection device, which carries a second time indication and the service that the first detection device needs to send to the second detection device. The second time indication is used to indicate the second arrival time.

[0251] Step 1608: The first detection device obtains the first distance based on the first transmission time and the first arrival time.

[0252] Step 1609: The second detection device obtains the second distance based on the second transmission time and the second arrival time.

[0253] For a description of the execution process of steps 1608 to 1609, please refer to [link / reference needed]. Figure 8 The corresponding steps 806 and 807 are shown below, and will not be described in detail.

[0254] Step 1610: The first detection device sends a first beacon light to the second detection device along the third direction.

[0255] Step 1611: The second detection device receives the first beacon light from the first detection device along the first direction.

[0256] Step 1612: The second detection device sends a second beacon light to the first detection device along the fourth direction.

[0257] As shown in steps 1610 to 1612 of this embodiment, please refer to... Figure 13The corresponding steps 1306 to 1308 are shown and will not be described in detail. The first beacon light shown in step 1610 of this embodiment may also include a first ranging light, so that the first detection device measures the distance between the first detection device and the second detection device based on the first ranging light. The second beacon light shown in step 1612 of this embodiment may also include a second ranging light, so that the second detection device measures the distance between the first detection device and the second detection device based on the second ranging light. For the specific measurement process, please refer to the above description and will not be repeated.

[0258] This application embodiment also provides a satellite, including a beacon light transmitting module, a beacon light receiving module, a control module, and a signal light transmitting module. The beacon light transmitting module is used to transmit K1 first beacon lights to another satellite, where K1 is any integer greater than 1. The beacon light receiving module is used to receive second beacon lights from the other detection device, wherein the time period during which a second beacon light is received by the beacon light receiving module is between the time periods of two adjacent first beacon lights transmitted by the beacon light transmitting module. The beacon light receiving module is further used to convert the second beacon light into an electrical signal and send the electrical signal to the control module. The control module is used to detect the direction of the second beacon light emitted by the other satellite based on the electrical signal. The signal light transmitting module is used to transmit signal light to the other satellite based on the direction of the second beacon light emitted by the other satellite, the signal light carrying data transmitted by the satellite to the other satellite. For a description of the satellite communication method provided in this embodiment, please refer to [link to documentation]. Figure 13 The corresponding explanations are not detailed here. Optionally, the satellite may also include a synchronization module. For an explanation of the synchronization module, please refer to the above explanation of the first synchronization module; details are not repeated here. This embodiment uses the beacon optical transmission module and the signal optical transmission module as two separate modules. In other examples, the beacon optical transmission module and the signal optical transmission module may also be implemented using a single module; there is no specific limitation.

[0259] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A detection device, characterized in that, It includes a beacon light transmitting module, a beacon light receiving module, and a control module; The beacon light emitting module is used to emit K1 first beacon lights to another detection device, where K1 is any integer greater than 1; The beacon light receiving module is used to receive a second beacon light from the other detection device. The time period during which the second beacon light is received by the beacon light receiving module is located between the time periods during which two adjacent first beacon lights are emitted by the beacon light transmitting module among the K1 first beacon lights. The beacon light receiving module is also used to convert the second beacon light into an electrical signal and send the electrical signal to the control module; The control module is used to detect the direction of the second beacon light emitted by the other detection device based on the electrical signal.

2. The detection device according to claim 1, characterized in that, The detection device further includes a first synchronization module, which is used to synchronize with the clock of the second synchronization module of the other detection device to control the duration of the transmission time slot. The beacon light transmission module is used to emit the first beacon light during the duration of the transmission time slot.

3. The detection device according to claim 2, characterized in that, The detection device further includes a first synchronization module, which is used to synchronize with the clock of the second synchronization module of the other detection device to determine the duration of the receiving time slot.

4. The detection device according to claim 3, characterized in that, The first synchronization module includes a first crystal oscillator circuit and a first phase-locked loop. The first phase-locked loop is used to control the frequency and phase output of the first crystal oscillator circuit. The clock synchronization between the first synchronization module and the second synchronization module includes frequency synchronization and phase synchronization. The frequency synchronization refers to the synchronization between the frequency output of the first crystal oscillator circuit and the frequency output of the second crystal oscillator circuit included in the second synchronization module. The phase synchronization refers to the synchronization between the phase output of the first crystal oscillator circuit and the phase output of the second crystal oscillator circuit.

5. The detection device according to any one of claims 1 to 4, characterized in that, The beacon light receiving module is used to receive K2 second beacon lights, where K2 is any integer greater than 1, wherein the peak times of the K1 first beacon lights are staggered with the peak times of the K2 second beacon lights.

6. The detection device according to any one of claims 1 to 5, characterized in that, The K1 first beacon lights include first beacon light i-1, first beacon light i, and first beacon light i+1. The first beacon light i-1, first beacon light i, and first beacon light i+1 are sequentially adjacent in the K1 first beacon lights. The time interval between the peak times of the first beacon light i-1 and the first beacon light i is equal to the time interval between the peak times of the first beacon light i and the first beacon light i+1.

7. The detection device according to any one of claims 1 to 6, characterized in that, The K1 first beacon lights include first beacon light i-1, first beacon light i, and first beacon light i+1. The first beacon light i-1, first beacon light i, and first beacon light i+1 are sequentially adjacent in the K1 first beacon lights. The time interval between the peak times of the first beacon light i-1 and the first beacon light i is not equal to the time interval between the peak times of the first beacon light i and the first beacon light i+1.

8. The detection device according to any one of claims 1 to 7, characterized in that, The K1 first beacon lights carry the location information of the detection device, and the K2 second beacon lights carry the location information of the other detection device, where K2 is any integer greater than 1.

9. The detection device according to any one of claims 1 to 8, characterized in that, Within the same target time period, the number of times the beacon light transmitting module transmits the first beacon light is equal to the number of times the beacon light receiving module receives the second beacon light.

10. The detection device according to any one of claims 1 to 9, characterized in that, Within the same target time period, the number of times the beacon light transmitting module transmits the first beacon light is not equal to the number of times the beacon light receiving module receives the second beacon light.

11. The detection device according to any one of claims 1 to 10, characterized in that, The wavelength of the first beacon light is the same as the wavelength of the second beacon light.

12. The detection device according to any one of claims 1 to 11, characterized in that, Among the K1 first beacon lights, the amplitude distribution of two different first beacon lights is different over time.

13. The detection device according to any one of claims 1 to 12, characterized in that, The pulse leading edge of the first beacon light is out of phase with the pulse leading edge of the second beacon light.

14. The detection device according to any one of claims 1 to 13, characterized in that, The waveform of the first beacon light, after Fourier expansion, has one or more signals of different frequencies, and the waveform of the second beacon light, after Fourier expansion, has one or more signals of different frequencies.

15. The detection device according to any one of claims 1 to 14, characterized in that, The first beacon light has a first waveform, and the second beacon light has a second waveform, wherein the first waveform is different from the second waveform.

16. The detection device according to any one of claims 1 to 15, characterized in that, The beacon light emission module includes any one of the following: edge-emitting laser (EEL), pulsed vertical-cavity surface-emitting laser (VCSEL), and photonic crystal surface-emitting laser (PCSEL).

17. The detection device according to any one of claims 1 to 16, characterized in that, The beacon light receiving module is any one of the following: a four-quadrant photodiode (PD), a four-quadrant avalanche photodiode (APD), a linear PD array, a linear APD array, a planar PD array, a planar APD array, a ring PD array, or a ring APD array.

18. The detection device according to any one of claims 1 to 17, characterized in that, The K1 first beacon lights include a first ranging light, and the control module is further configured to: Receive a first time indication from the other detection device, the first time indication being used to indicate a first arrival time, the first arrival time being the time when the first ranging light arrives at the other detection device; The distance between the detection device and the other detection device is obtained based on the first transmission time and the first arrival time, wherein the first transmission time is the time when the detection device sends the first ranging light.

19. The detection device according to any one of claims 1 to 17, characterized in that, The K2 second beacon lights include second ranging lights, and the control module is further configured to: The second arrival time is obtained, which is the moment when the detection device receives the second ranging light; A second time indication is sent to the other detection device, the second time indication being used to indicate the second arrival time, the second arrival time being used to obtain the distance between the detection device and the other detection device.

20. A communication method, characterized in that, The method includes; The detection device emits K1 first beacon lights to another detection device, where K1 is any integer greater than 1; The detection device receives the second beacon light, and the time period during which the second beacon light is received by the detection device is between two adjacent time periods during which the first beacon light is emitted by the detection device among the K1 first beacon lights; The detection device converts the second beacon light into an electrical signal; The detection device detects the direction of the second beacon light emitted by the other detection device based on the electrical signal.

21. The method according to claim 20, characterized in that, The detection device includes a first synchronization module, which includes a first crystal oscillator circuit and a first phase-locked loop. The other detection device includes a second synchronization module. Before the detection device emits K1 first beacon lights to the other detection device, the method further includes: The detection device controls the frequency and phase output of the first crystal oscillator circuit through the first phase-locked loop to synchronize the clocks of the first synchronization module and the second synchronization module. The clock synchronization between the first synchronization module and the second synchronization module includes frequency synchronization and phase synchronization. Frequency synchronization refers to the frequency synchronization between the frequency output of the first crystal oscillator circuit and the frequency output of the second crystal oscillator circuit included in the second synchronization module. Phase synchronization refers to the phase synchronization between the phase output of the first crystal oscillator circuit and the phase output of the second crystal oscillator circuit.

22. The method according to claim 20 or 21, characterized in that, The detection device receives the second beacon light including: The detection device receives K2 second beacon lights, where K2 is any integer greater than 1, wherein the peak times of the K1 first beacon lights are staggered with the peak times of the K2 second beacon lights.

23. The method according to any one of claims 20 to 22, characterized in that, The K1 first beacon lights include first beacon light i-1, first beacon light i, and first beacon light i+1. The first beacon light i-1, first beacon light i, and first beacon light i+1 are sequentially adjacent in the K first beacon lights. The time interval between the peak times of the first beacon light i-1 and the first beacon light i is equal to the time interval between the peak times of the first beacon light i and the first beacon light i+1.

24. The method according to any one of claims 20 to 22, characterized in that, The K1 first beacon lights include first beacon light i-1, first beacon light i, and first beacon light i+1. The first beacon light i-1, first beacon light i, and first beacon light i+1 are sequentially adjacent in the K first beacon lights. The time interval between the peak times of the first beacon light i-1 and the first beacon light i is not equal to the time interval between the peak times of the first beacon light i and the first beacon light i+1.

25. The method according to any one of claims 20 to 24, characterized in that, The K1 first beacon lights carry the location information of the detection device, and the K2 second beacon lights carry the location information of the other detection device, where K2 is any integer greater than 1.

26. The method according to any one of claims 20 to 25, characterized in that, The K1 first beacon lights include a first ranging light, and the method further includes: The detection device receives a first time indication from the other detection device, the first time indication being used to indicate a first arrival time, the first arrival time being the time when the first ranging light arrives at the other detection device; The detection device obtains the distance between itself and the other detection device based on the first transmission time and the first arrival time, wherein the first transmission time is the time when the detection device transmits the first ranging light.

27. The method according to any one of claims 20 to 25, characterized in that, The K2 second beacon lights include second ranging lights, and the method further includes: The detection device obtains a second arrival time, which is the time when the detection device receives the second ranging light. The detection device sends a second time indication to the other detection device. The second time indication is used to indicate the second arrival time, and the second arrival time is used to obtain the distance between the detection device and the other detection device.

28. A satellite, characterized in that, Includes a signal light emitting module and a detection device as described in any one of claims 1 to 19; The signal light transmitting module is used to transmit signal light to the other satellite according to the direction of the second beacon light emitted by the other satellite. The signal light carries the data sent by the satellite to the other satellite, wherein the other satellite includes the other detection device.

29. A satellite system, characterized in that, It includes multiple satellites, which are the satellites as described in claim 28.

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