Three-dimensional image motion compensation optical system

Abstract

The utility model provides a three-dimensional image motion compensation optical system, which comprises a front-end telescope group, a relay telescope group and a rear-end secondary imaging lens group which are sequentially arranged from an object space to an image space along a light propagation direction, and is characterized in that an image elimination rotation Pechan prism is arranged in the front-end telescope group; a first reverse-scanning compensating mirror is arranged between the front-end telescope group and the relay telescope group, and a second reverse-scanning compensating mirror is arranged between the relay telescope group and the rear-end secondary imaging lens group. Through the image elimination rotation Pechan prism, the first reverse scanning compensating mirror and the second reverse scanning compensating mirror, the searching and tracking system is ensured to keep the image surface position unchanged in the searching state of panoramic scanning so as to realize clear imaging, and the image motion introduced by the three-dimensional space attitude change of a weapon platform can be eliminated. And the centers of the rotating shafts of the two reverse scanning compensating mirrors coincide with the exit pupil center of the telescope group, so that aberration-free object space scanning is realized.

Description

Technical Field

[0001] The utility model relates to an optical system, in particular to a three-dimensional image shift compensation optical system, belonging to the technical field of photoelectric detection. Background Art

[0002] The infrared search and tracking (IRST) system is mainly used to search and track targets in the air, on the ground, and on the sea. The IRST system has two functions: target search and target tracking. The search mode can perform scanning imaging within 360° or the angle range of the key area, while the tracking mode performs staring imaging on the target. In the search mode, since the field of view covered by a single image is limited, the IRST system usually uses scanning imaging to complete image stitching to form a wide-area image. The key to scanning imaging is image motion compensation, that is, to keep the image still during the integration time of the detector, otherwise it will cause image tailing and the resolution will be seriously reduced. Most of the current image motion compensation optical systems can only achieve one-dimensional image motion compensation in the horizontal direction. In actual application scenarios, in addition to the horizontal image motion introduced by the panoramic scanning imaging in the search state, the platform on which the IRST is located moves in space, causing the spatial posture to change, which may introduce horizontal image motion, pitch image motion or image rotation. Therefore, it is necessary to set a three-dimensional image motion compensation mechanism in the optical system to achieve image motion compensation after the platform changes its spatial posture. Summary of the invention

[0003] In view of the defects in the prior art and the actual needs of a mobile search and tracking system platform, the utility model provides a three-dimensional image motion compensation optical system.

[0004] The utility model is completed by the following technical scheme: a three-dimensional image motion compensation optical system, comprising a front telescope group, a relay telescope group and a rear secondary imaging mirror group arranged in sequence from the object side to the image side along the light propagation direction, characterized in that: an image-eliminating rotating Behan prism is arranged in the front telescope group, a first backscanning compensation mirror is arranged between the front telescope group and the relay telescope group, and a second backscanning compensation mirror is arranged between the relay telescope group and the rear secondary imaging mirror group. By introducing two backscanning compensation mirrors placed at a 45-degree angle to the optical axis and an image-eliminating rotating Behan prism, wherein:

[0005] The first anti-scan compensator can stabilize the image in the horizontal azimuth, which is used to compensate for the horizontal image shift introduced by the panoramic scanning imaging in the search state. It can also be used to compensate for the image shift introduced by the horizontal azimuth attitude change of the weapon platform.

[0006] The second anti-scan compensating mirror can stabilize the image in the pitch azimuth to compensate for the image shift introduced by the pitch attitude change of the weapon platform;

[0007] The image-eliminating rotating Behan prism is used to compensate for the image rotation introduced by the change of the platform's rolling attitude;

[0008] Ultimately, the entire optical system can achieve image motion compensation in three dimensions: horizontal image motion, pitch image motion and image rotation, and can simultaneously meet the two functions of image motion compensation for panoramic scanning imaging in the search state and image motion compensation for platform spatial posture changes.

[0009] The front-end telescope group and the relay telescope group are both afocal telescope systems, and have real entrance pupils and exit pupils, which can be parallel optical paths of the first backscanning compensation mirror and the second backscanning compensation mirror. The exit pupil of the front-end telescope group coincides with the entrance pupil of the relay telescope group, and the exit pupil of the relay telescope group coincides with the entrance pupil of the rear-end secondary imaging mirror group. The rear-end secondary imaging mirror group is an optical system in the form of secondary imaging, and can achieve 100% cold screen matching at the detector cold screen position.

[0010] The front telescope assembly comprises: a front eyepiece, an image-eliminating rotating Pehan prism, a front first objective lens, and a front second objective lens, which are arranged in sequence from the object side to the image side along the light propagation direction, wherein:

[0011] The front eyepiece and the front first objective lens are configured as positive-power meniscus lenses with the convex surface facing the object side;

[0012] The front second objective lens is configured as a meniscus lens with negative optical power and a convex surface facing the object.

[0013] The relay telescope assembly comprises: a relay first eyepiece, a relay second eyepiece, a relay first objective lens, a relay second objective lens and a relay third objective lens arranged in sequence from the object side to the image side along the light propagation direction, wherein:

[0014] The relay first eyepiece is a meniscus lens of positive power with a convex surface facing the object;

[0015] The relay second eyepiece is a meniscus lens of negative optical power with a convex surface facing the object;

[0016] The relay first objective lens is a meniscus lens of positive power with a convex surface facing the object side;

[0017] The relay second objective lens is set as a double concave lens;

[0018] The relay third objective lens is set as a double convex lens.

[0019] The rear secondary imaging lens group comprises: a rear first lens, a folding reflector, a rear second lens, a rear third lens and a rear fourth lens arranged in sequence from the object side to the image side along the light propagation direction, wherein:

[0020] The first lens at the rear end is a biconvex lens;

[0021] The rear second lens is a positive-power meniscus lens with a convex surface facing the object side;

[0022] The rear third lens is a meniscus lens with negative optical power and a convex surface facing the object side;

[0023] The rear fourth lens is a biconvex lens.

[0024] The first back-scan compensation mirror and the second back-scan compensation mirror can rotate around the optical axis to achieve image rotation compensation.

[0025] The first backscan compensation mirror is located at the exit pupil position of the front telescope group, which is also the entrance pupil position of the relay telescope group. It has two working states: static state and backscan state. In the static state, the angle between the mirror and the optical axis is 45 degrees; in the backscan state, the angle between the mirror and the optical axis swings back and forth in the range of about 45 degrees to achieve backscan compensation of the object field of view along the positive and negative directions of the X-axis.

[0026] The second backscan compensation mirror is located at the exit pupil position of the relay telescope group, which is also the entrance pupil position of the secondary imaging mirror group. It has two working states: static state and backscan state. In the static state, the angle between the mirror and the optical axis is 45 degrees; in the backscan state, the angle between the mirror and the optical axis swings within the positive and negative range of 45 degrees, so as to realize backscan compensation of the object field of view along the positive and negative directions of the Y-axis.

[0027] The de-image rotation Behan prism located inside the front telescope group has two working states: static state and rotating state. In the rotating state, it can rotate around the optical axis at a certain speed to achieve image rotation compensation.

[0028] The utility model is suitable for a medium wave cooling type focal plane detector, and the working band is 3.7-4.8 μm.

[0029] The calculation formula of optical system parameters is as follows:

[0030] Assume that the magnification of the front telescope group in the optical system is , the magnification of the relay telescope group is , the focal length of the entire optical system is , the F number is , the field of view is m×n (where m is the horizontal direction and n is the vertical direction), and the rotation speed of the turntable is , the detector integration time is , then: The entrance pupil diameter of the front telescope group is , the field of view is ; The entrance pupil diameter of the relay telescope group is , the field of view is ; The entrance pupil diameter of the rear secondary imaging lens group is , the field of view is , and calculated according to the following formulas:

[0031] .

[0032] The utility model is used for image shift compensation of the pan scanning imaging of the search and follow system, and the rotation speed of the first reverse scanning compensation mirror is , the rotation range of the first backscan compensation mirror The following mapping relationship exists:

[0033] .

[0034] When the utility model is used for image motion compensation after the entire platform space posture changes, the horizontal posture rotation angle of the platform is set to , the pitch angle of the platform is , the platform's roll attitude rotation angle is , and the rotation angle of the first backscan compensation mirror , the second backscan compensation mirror rotation angle 、The rotation angle of the animage-destroying Bihan prism The following mapping relationship exists:

[0035] .

[0036] The technical difficulties of this utility model are as follows:

[0037] 1) To achieve aberration-free object scanning, the two backscan compensation mirrors need to be located in the parallel optical path and at the pupil position, so the optical system needs to contain two telescope groups; in addition, the animascopy prism needs to be placed in a position where the air thickness is large and the aperture is small. Therefore, it is necessary to reasonably grasp the focal power distribution of each part of the optical system, optimize the spatial layout and material matching, so as to simplify the optical system design as much as possible, reduce the number of lenses, and reduce the space size;

[0038] 2) Since the magnification of the front telescope group and the relay telescope group directly affects the size of the telescope exit pupil and the field of view of the output optical fiber, it is necessary to select a suitable magnification to meet the size limit, swing angle range limit, and scanning speed limit of the backscan compensation mirror, meet the outer envelope size requirements of the optical system, and reduce the difficulty of optical system design optimization;

[0039] 3) Since the first anti-scan compensator is used to compensate for the horizontal image shift introduced by the periscopic scanning, and the compensation angle is relatively large, the telescope system located before the anti-scan compensator needs to be designed to expand the field of view to avoid the problem of unclear edge field of view on the image plane under the scanning state;

[0040] 4) In order to adapt to the cooled focal plane detector, the back-end imaging system needs to adopt secondary imaging. Therefore, the entire optical system needs to complete four imagings in total to form three intermediate image planes.

[0041] Compared with the prior art, the utility model has the following advantages and effects:

[0042] 1. By introducing two backscan compensation mirrors and an anti-rotation Behan prism into the infrared optical system, image shift compensation in three dimensions, namely horizontal image shift, pitch image shift and image rotation, can be achieved. This can not only ensure that the search and tracking system keeps the image plane position unchanged in the search state of panoramic scanning and achieve clear imaging, but also eliminate the image shift introduced by the three-dimensional spatial posture change of the weapon platform.

[0043] 2. By aligning the center of the rotation axis of the two backscan compensation mirrors with the exit pupil center of the telescope group, aberration-free object scanning is achieved.

[0044] 3. By reasonably grasping the distribution of optical power of each part of the optical system, optimizing the spatial layout and material matching, the optical system design can be simplified as much as possible, the number of lenses can be reduced, and the spatial size can be reduced.

[0045] 4. By selecting the appropriate magnification, the size limit, swing angle range limit, and scanning speed limit of the backscan compensation mirror are met, while meeting the outer envelope size requirements of the optical system and reducing the difficulty of optical system design optimization.

[0046] 5. By expanding the field of view of the front telescope group according to the horizontal compensation angle, it is achieved that the image plane can be clearly imaged from the center field of view to the edge field of view in all reverse scanning states. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a structural diagram of the optical system of the utility model;

[0048] Figure 2 for Figure 1 The main view of the animascopy rotating Bihan prism;

[0049] Figure 3 for Figure 2 Left view:

[0050] Figure 4 is a modulation transfer function curve when the first backscan compensation mirror is in a stationary state in the utility model;

[0051] Figure 5 The modulation transfer function curve of the utility model when the swing angle of the first back-scanning compensation mirror is 1.5°;

[0052] Figure 6 This is a modulation transfer function curve when the swing angle of the first back-scanning compensation mirror is -1.5° in the utility model.

[0053] In the figure: 1, front telescope group, 1-1, front eyepiece, 1-2, image-eliminating rotating Pehan prism, 1-3, front first objective lens, 1-4, front second objective lens, 2, first anti-scanning compensation mirror, 3, relay telescope group, 3-1, relay first eyepiece, 3-2, relay second eyepiece, 3-3, relay first objective lens, 3-4, relay second objective lens, 3-5, relay third objective lens, 4, second anti-scanning compensation mirror, 5, rear secondary imaging lens group, 5-1, rear first lens, 5-2, folding reflector, 5-3, rear second lens, 5-4, rear third lens, 5-5, rear fourth lens. DETAILED DESCRIPTION

[0054] The utility model is further described below with reference to the embodiments given in the accompanying drawings.

[0055] The utility model provides a three-dimensional image motion compensation optical system, comprising a front telescope group 1, a relay telescope group 3 and a rear secondary imaging mirror group 5 which are arranged in sequence from the object side to the image side along the light propagation direction, wherein: an image-eliminating rotating Behan prism 1-2 is arranged in the front telescope group 1, a first backscan compensation mirror 2 is arranged between the front telescope group 1 and the relay telescope group 3, and a second backscan compensation mirror 4 is arranged between the relay telescope group 3 and the rear secondary imaging mirror group 5, so as to compensate the image rotation introduced by the rolling attitude change of the platform through the Behan prism 1-2, and perform image stabilization in the horizontal azimuth through the first backscan compensation mirror 2, which is used to compensate for the horizontal image motion introduced by the panoramic scanning imaging in the search state, and can also be used to compensate for the image motion introduced by the horizontal azimuth attitude change of the platform, and can perform image stabilization in the pitch azimuth through the second backscan compensation mirror 4, which is used to compensate for the image motion introduced by the pitch attitude change of the platform.

[0056] The front telescope assembly 1 comprises: a front eyepiece 1-1, an image-eliminating rotating Pehan prism 1-2, a front first objective lens 1-3, and a front second objective lens 1-4, which are arranged in sequence from the object side to the image side along the light propagation direction, wherein:

[0057] The front eyepiece 1-1 and the front first objective lens 1-3 are configured as meniscus lenses with positive focal power and the convex surface facing the object side;

[0058] The front second objective lens 1-3 is set as a meniscus lens with negative optical focal length with the convex surface facing the object.

[0059] The relay telescope group 3 comprises: a relay first eyepiece 3-1, a relay second eyepiece 3-2, a relay first objective lens 3-3, a relay second objective lens 3-4 and a relay third objective lens 3-5 arranged in sequence from the object side to the image side along the light propagation direction, wherein:

[0060] The first relay eyepiece 3-1 is a meniscus lens with positive power and a convex surface facing the object;

[0061] The relay second eyepiece 3-2 is a meniscus lens with negative optical power and a convex surface facing the object side;

[0062] The relay first objective lens 3-3 is set as a meniscus lens with positive optical power with the convex surface facing the object side;

[0063] The relay second objective lens 3-4 is set as a double concave lens;

[0064] The relay third objective lens 3-5 is set as a biconvex lens.

[0065] The rear secondary imaging lens group 5 comprises: a rear first lens 5-1, a folding reflector 5-2, a rear second lens 5-3, a rear third lens 5-4 and a rear fourth lens 5-5 arranged in sequence from the object side to the image side along the light propagation direction, wherein:

[0066] The rear first lens 5-1 is set as a biconvex lens;

[0067] The rear second lens 5-3 is a meniscus lens with positive focal length and a convex surface facing the object side;

[0068] The rear third lens 5-4 is a meniscus lens with negative optical power and a convex surface facing the object side;

[0069] The rear fourth lens 5-5 is set as a biconvex lens.

[0070] The first back-scan compensation mirror 2 and the second back-scan compensation mirror 4 rotate around the optical axis to achieve image rotation compensation.

[0071] The first backscan compensation mirror 2 is located at the exit pupil position of the front telescope group 1, and is also the entrance pupil position of the relay telescope group 3. It has two working states: static state and backscan state. In the static state, the angle between the mirror and the optical axis is 45 degrees; in the backscan state, the angle between the mirror and the optical axis swings back and forth in the range of about 45 degrees to achieve backscan compensation of the object field of view along the positive and negative directions of the X-axis.

[0072] The second backscan compensation mirror 4 is located at the exit pupil position of the relay telescope group 3, which is also the entrance pupil position of the secondary imaging mirror group 5. It has two working states: a static state and a backscan state. In the static state, the angle between the mirror and the optical axis is 45 degrees; in the backscan state, the angle between the mirror and the optical axis swings within the positive and negative range of 45 degrees, thereby realizing backscan compensation of the object field of view along the positive and negative directions of the Y-axis.

[0073] The image-eliminating rotating Behan prism 1-2 located in the front telescope group 1 has two working states: a stationary state and a rotating state. In the rotating state, it can rotate around the optical axis at a certain speed to achieve image rotation compensation.

[0074] The front telescope group 1 and the relay telescope group 3 are both configured as afocal telescope groups, and have real entrance pupils and exit pupils, which can be parallel optical paths of the first backscanning compensation mirror 2 and the second backscanning compensation mirror 4. The exit pupil of the front telescope group 1 coincides with the entrance pupil of the relay telescope group 3, and the exit pupil of the relay telescope group 3 coincides with the entrance pupil of the rear secondary imaging mirror group 5; the rear secondary imaging mirror group 5 is an optical system in the form of secondary imaging, and can achieve 100% cold screen matching at the detector cold screen position, as follows:

[0075] Assume that the optical system parameters are as follows: the magnification of the front telescope group 1 is , the magnification of relay telescope group 3 is , the focal length of the entire optical system is , the F number is , the field of view is (The horizontal direction is , the vertical direction is ), assuming the turntable speed is , the detector integration time is , then: The entrance pupil diameter of the front telescope group 1 is , the field of view is ; The entrance pupil diameter of relay telescope group 3 is , the field of view is ; The entrance pupil diameter of the rear secondary imaging lens group 5 is , the field of view is , and calculated according to the following formulas:

[0076] .

[0077] The utility model is used for image shift compensation of the pan scanning imaging of the search and follow system, and the rotation speed of the first reverse scanning compensation mirror 2 is , Rotation range The following mapping relationship exists:

[0078] .

[0079] When the utility model is used for image motion compensation after the entire platform space posture changes, the horizontal posture rotation angle of the platform is set to , the pitch angle of the platform is , the platform's roll attitude rotation angle is , and the rotation angle of the first backscan compensation mirror 2 , the rotation angle of the second backscan compensation mirror 4 , the rotation angle of the animage-destroying Bihan prism 1-2 The following mapping relationship exists:

[0080] .

[0081] The front-end telescope group 1 and the relay telescope group 3 are both set as afocal telescope groups, the exit pupil of the front-end telescope group 1 coincides with the entrance pupil of the relay telescope group 3, and the exit pupil of the relay telescope group 3 coincides with the entrance pupil of the rear-end secondary imaging mirror group 5, so as to achieve 100% cold screen matching at the detector cold screen position.

[0082] The first backscan compensation mirror 2 is located at the exit pupil position of the front telescope group 1, and its optical axis angle is 45 degrees. The first backscan compensation mirror 2 can swing back and forth within the optical axis angle range to achieve backscan compensation of the object field along the positive and negative directions of the X-axis.

[0083] The second backscan compensation mirror 4 is located at the exit pupil position of the relay telescope group 3, and its optical axis angle is set to 45 degrees. The second backscan compensation mirror 4 can swing back and forth within the optical axis angle range to achieve backscan compensation of the object field along the positive and negative directions of the Y axis.

[0084] In the animascopy rotating Behan prism, a=1.71D0, b=c=D0, d=1.83D0, e=1.41D0, f=D0, h=1.21D0, and t=0.1mm.

[0085] This embodiment is suitable for a medium wave cooled focal plane detector, with an operating band of 3.7 to 4.8 μm, a focal length of -90.3 mm, an F number of 2, a field of view of 6°×4.8°, wherein retrace is performed in the 6° direction, and the retrace angle is ±1°.

[0086] In this embodiment, the magnification of the front telescope group 1 is 3 times, the entrance pupil diameter is 45.8 mm, the field of view angle is 8°×4.8°, the focal length of the eyepiece group is 142.9 mm, and the focal length of the objective lens group is 47.6 mm; the magnification of the relay telescope group 3 is 1 times, the entrance pupil diameter is 15.26 mm, the field of view angle is 18°×14.4°, the focal length of the eyepiece group is 33.9 mm, and the focal length of the objective lens group is 33.9 mm; the entrance pupil diameter of the rear secondary imaging lens group 5 is 45.8 mm, the field of view angle is 18°×14.4°, and the focal length is -30.1 mm.

[0087] In this embodiment, when the search and tracking system is in the panoramic scanning state, the rotation range of the first reverse scanning compensation mirror 2 is The object side field of view compensation range is ±1°.

[0088] In this embodiment, the front view and left view of the animage-degrading rotating Behan prism 1-2 are as follows: Figure 2 , Figure 3 As shown, in this embodiment, h=55.53mm.

[0089] In this embodiment, the material of the front end eyepiece 1-1 is silicon, the material of the front end first objective lens 1-3 is silicon, the material of the front end second objective lens 1-4 is germanium, the material of the relay first eyepiece 3-1 is silicon, the material of the relay second eyepiece 3-2 is germanium, the material of the relay first objective lens 3-3 is silicon, the material of the relay second objective lens 3-4 is zinc sulfide, the material of the relay third objective lens 3-5 is silicon, the material of the rear end first lens 5-1 is silicon, the material of the rear end second lens 5-3 is silicon, the material of the rear end third lens 5-4 is zinc sulfide, and the material of the rear end fourth lens 5-5 is silicon.

[0090] The optical structural parameters of each optical element in this embodiment can refer to Table 1. The data in the table include the optical element name, surface number, surface type, radius, curvature radius, thickness and optical material. The positive and negative signs of the radius meet the basic optical sign rules.

[0091] Table 1

[0092]

[0093] The three-dimensional image motion compensation infrared optical system of the utility model adopts an aberration-free scanning method of object-space scanning and the front telescope group is designed to expand the field of view, so that good imaging quality can be achieved in the entire swing scanning range of the first backscan compensation mirror. Figure 4 The modulation transfer function curve of the three-dimensional image motion compensation infrared optical system when the first backscan compensation mirror is in a static state is given. The modulation transfer function value of each field of view at the spatial frequency of 33lp / mm is close to the diffraction limit. Figure 5 The modulation transfer function curve of the three-dimensional image motion compensation infrared optical system is given when the swing angle of the first backscan compensation mirror is 1.5°. The modulation transfer function value of each field of view at the spatial frequency of 33lp / mm is close to the diffraction limit. Figure 6 The modulation transfer function curve of the three-dimensional image motion compensation infrared optical system is given when the swing angle of the first backscan compensation mirror is -1.5°. The modulation transfer function value of each field of view at the spatial frequency of 33lp / mm is close to the diffraction limit.

[0094] Finally, it should be noted that the above is only a preferred embodiment of the utility model, and does not limit the patent scope of the utility model. All equivalent structural changes made by using the contents of the utility model specification and drawings under the utility model concept, or directly / indirectly used in other related technical fields are included in the patent protection scope of the utility model.

Claims

1. A three-dimensional image motion compensation optical system, comprising a front telescope group, a relay telescope group and a rear secondary imaging lens group arranged in sequence from the object side to the image side along the light propagation direction, characterized in that: An image-eliminating rotating Pehan prism is arranged in the front telescope group, a first backscan compensation mirror is arranged between the front telescope group and the relay telescope group, and a second backscan compensation mirror is arranged between the relay telescope group and the rear secondary imaging mirror group.

2. The three-dimensional image motion compensation optical system according to claim 1, characterized in that The front telescope assembly comprises: a front eyepiece, an image-eliminating rotating Pehan prism, a front first objective lens, and a front second objective lens, which are arranged in sequence from the object side to the image side along the light propagation direction, wherein: The front eyepiece and the front first objective lens are configured as positive-power meniscus lenses with the convex surface facing the object side; The second objective lens at the front end is a meniscus lens with negative optical power and a convex surface facing the object.

3. The three-dimensional image motion compensation optical system according to claim 1, characterized in that The relay telescope assembly comprises: a relay first eyepiece, a relay second eyepiece, a relay first objective lens, a relay second objective lens and a relay third objective lens arranged in sequence from the object side to the image side along the light propagation direction, wherein: The relay first eyepiece is a meniscus lens of positive power with a convex surface facing the object; The relay second eyepiece is a meniscus lens of negative optical power with a convex surface facing the object; The relay first objective lens is a meniscus lens of positive power with a convex surface facing the object side; The relay second objective lens is set as a double concave lens; The relay third objective lens is set as a double convex lens.

4. The three-dimensional image motion compensation optical system according to claim 1, characterized in that The rear secondary imaging lens group comprises: a rear first lens, a folding reflector, a rear second lens, a rear third lens and a rear fourth lens arranged in sequence from the object side to the image side along the light propagation direction, wherein: The first lens at the rear end is a biconvex lens; The rear second lens is a positive-power meniscus lens with a convex surface facing the object side; The rear third lens is a meniscus lens with negative optical power and a convex surface facing the object side; The rear fourth lens is a biconvex lens.

5. The three-dimensional image motion compensation optical system according to claim 1, characterized in that The front telescope group and the relay telescope group are both configured as afocal telescope groups, the exit pupil of the front telescope group coincides with the entrance pupil of the relay telescope group, and the exit pupil of the relay telescope group coincides with the entrance pupil of the rear secondary imaging mirror group.

6. The three-dimensional image motion compensation optical system according to claim 1, characterized in that The first back-scan compensation mirror is located at the exit pupil position of the front telescope group, the optical axis angle thereof is 45 degrees, and the first back-scan compensation mirror swings back and forth within the optical axis angle range.

7. The three-dimensional image motion compensation optical system according to claim 1, characterized in that The second backscan compensation mirror is located at the exit pupil position of the relay telescope group, the optical axis angle thereof is set to 45 degrees, and the second backscan compensation mirror swings back and forth within the optical axis angle range.

Images