Optical path pointing device, optical path pointing method, and optical path pointing system

Abstract

An optical path pointing device, an optical path pointing method, and an optical path pointing system are provided. The optical path pointing system includes a first optical path pointing device (201) and a second optical path pointing device (202). A first optical transceiver (203) in the first optical path pointing device (201) emits a first beacon light to the second optical path pointing device (202) and receives the first beacon light reflected by a second prism (207) in the second optical path pointing device (202). The first position sensitive detector (204) in the first optical path pointing device (201) determines a first alignment angle of the first optical path pointing device (201) based on information about the position where the first beacon light reflected by the second prism (207) arrives at the first position sensitive detector (204), and sends the first alignment angle to the first adjustment module (205). The first adjustment module (205) adjusts the first alignment angle, where the adjusted first alignment angle satisfies a first pointing accuracy threshold. It can be seen that through the beacon light reflected by the prism (207), the beacon light paths are aligned between the first optical path pointing device (201) and the second optical path pointing device (202), which helps to improve the pointing accuracy of the fine tracking system.

Description

[Technical field]

[0001] This application claims priority to Chinese Patent Application No. 202110082565.9, entitled “OPTICAL PATH POINTING APPARATUS, OPTICAL PATH POINTING METHOD, AND OPTICAL PATH POINTING SYSTEM,” filed with the China State Intellectual Property Office on January 21, 2021, and is hereby incorporated by reference in its entirety.

[0002] The present application relates to the field of optical communication technology, and in particular to an optical path pointing device, an optical path pointing method, and an optical path pointing system. [Background technology]

[0003] Free space optical communication (FSO) refers to a communication technology that uses light waves as carriers to transmit information in vacuum or atmosphere. Fast and accurate acquisition, tracking, and pointing (ATP) technology is the core technology required to guarantee long-distance space optical communication. The ATP system includes a target acquisition (coarse tracking) system and a tracking and pointing (fine tracking) system. The coarse tracking system is generally used to acquire targets in a wide viewing range using a charge-coupled device (CCD) array, and to perform coarse tracking together with a band-pass optical filter and a servo system of real-time signal processing. After the target is acquired, the fine tracking system is used to point and track the target in real time, which is generally implemented using a position-sensitive detector. In long-distance scenarios (e.g., the distance between the STA side and the AP side is more than 5 meters), the CCD has a large accuracy error when the ATP system performs pointing based on the beacon light. Therefore, the ATP system needs to calculate the rotation angle of the servo system based on the information of the position-sensitive detector. However, in this scenario, the rotation angle of the servo system and calculated by the ATP system will be inaccurate due to the inaccurate information of the position-sensitive detector. This will reduce the tracking and pointing accuracy. Summary of the Invention

[0004] The embodiments of this application provide an optical path pointing method, an optical path pointing device, and an optical path pointing system, which are helpful in improving the tracking and pointing accuracy.

[0005] According to a first aspect, an embodiment of the present application provides a first optical path pointing device. The first optical path pointing device includes a first optical transceiver, a first position sensitive detector, and a first adjustment module. The first optical transceiver is configured to emit a first beacon light to a second optical path pointing device. The first optical transceiver is further configured to receive the first beacon light reflected by a second prism in the second optical path pointing device. The first position sensitive detector is configured to determine a first alignment angle of the first optical path pointing device based on information about a position at which the first beacon light reflected by the second prism reaches the first position sensitive detector, and transmit the first alignment angle to the first adjustment module. The first adjustment module is configured to adjust the first alignment angle. The adjusted first alignment angle satisfies a first pointing accuracy threshold.

[0006] It can be understood that the first optical path pointing device can adjust the first alignment angle of the first optical path pointing device based on information about the position where the first beacon light reflected by the second prism of the second optical path pointing device reaches the first position sensitive detector, thereby implementing fine pointing of the first optical path pointing device, which helps to improve the accuracy of tracking and pointing.

[0007] In a possible design, the first optical path pointing device further includes a first prism. The first optical transceiver is further configured to receive a second beacon light emitted by the second optical path pointing device and to emit the second beacon light to the first prism. The first prism is configured to reflect the second beacon light. Information about a position at which the second beacon light reflected by the first prism reaches a second position sensitive detector of the second optical path pointing device is utilized to adjust a second alignment angle of the second optical path pointing device. The adjusted second alignment angle meets a second pointing accuracy threshold.

[0008] It can be seen that the first prism in the first optical path pointing device is configured to reflect the second beacon light to the second optical path pointing device. In this way, the second optical path pointing device can adjust a second alignment angle of the second optical path pointing device based on information about the position where the second beacon light reflected by the first prism reaches the second position sensitive detector, to implement fine pointing of the second optical path pointing device. This helps to improve the accuracy of tracking and pointing.

[0009] In a possible design, the first optical transceiver includes a beam splitter and a dichroic mirror. The dichroic mirror is configured to receive the second beacon light emitted by the second optical path pointing device. The dichroic mirror is further configured to emit the second beacon light to the beam splitter. The beam splitter is configured to receive the second beacon light from the dichroic mirror. The beam splitter is further configured to emit the second beacon light to the first prism.

[0010] It can be understood that the first optical transceiver may include, among others, a beam splitter and a dichroic mirror. The second beacon light is reflected or refracted using the beam splitter and the dichroic mirror, so that the first prism in the first optical path pointing device receives the second beacon light of the second optical path pointing device.

[0011] In a possible design, the dichroic mirror is further configured to receive the first beacon light reflected by the second prism. The dichroic mirror is further configured to emit the first beacon light reflected by the second prism to a beam splitter. The beam splitter is further configured to receive the first beacon light reflected by the second prism from the dichroic mirror. The beam splitter is further configured to emit the first beacon light reflected by the second prism to a first position sensitive detector.

[0012] It can be understood that the first beacon light is reflected or refracted using a beam splitter and a dichroic mirror, and a first position-sensitive detector in the first optical path pointing device receives the first beacon light emitted by the first optical path pointing device and reflected by the second prism to perform precision pointing.

[0013] In a possible design, the first optical path pointing device further includes a first imaging module and a sensor. The first imaging module and the sensor are configured to obtain an attitude angle between the first optical path pointing device and the second optical path pointing device and transmit the attitude angle to the first adjustment module. The first adjustment module is further configured to receive the attitude angle and adjust a first alignment angle of the first optical path pointing device based on the attitude angle. The adjusted first alignment angle satisfies a third pointing accuracy threshold, and the third pointing accuracy threshold is greater than the first pointing accuracy threshold or the second pointing accuracy threshold.

[0014] It can be understood that the first imaging module and the sensor in the first optical path pointing device and the first adjustment module can jointly perform coarse pointing of the first optical path pointing device, the accuracy of the coarse pointing being lower than the accuracy of the fine pointing.

[0015] In a possible design, the wavelength of the first beacon light is different from the wavelength of the second beacon light.

[0016] It can be understood that the first optical path pointing device is provided with an optical filter for filtering the second beacon light, whereby the first position sensitive detector receives only the first beacon light reflected by the second prism and can adjust the first alignment angle of the first optical path pointing device based on information about the position at which the first beacon light reaches the first position sensitive detector.

[0017] In a possible design, the first optical path pointing device further includes a collimating mirror configured to emit an optical signal to the second optical path pointing device after the first optical path pointing device adjusts the first alignment angle to establish a communication link between the first optical path pointing device and the second optical path pointing device, the communication link and the beacon optical path for transmitting the first beacon light being coupled to each other.

[0018] It can be understood that after the first optical path pointing device adjusts the first alignment angle, the collimating mirror in the first optical path pointing device emits an optical signal to the second optical path pointing device to establish a communication link between the first optical path pointing device and the second optical path pointing device. The communication link and the beacon optical path are coupled to each other, i.e. 、 Between the first optical path pointing device and the second optical path pointing device in Beacon Light Path but When it's ready , and communication links are also available. .

[0019] According to a second aspect, an embodiment of the present application provides a second optical path pointing device. The second optical path pointing device includes a second optical transceiver, a second position sensitive detector, and a second adjustment module. The second optical transceiver is configured to emit a second beacon light to the first optical path pointing device. The second optical transceiver is further configured to receive the second beacon light reflected by a first prism in the first optical path pointing device. The second position sensitive detector is configured to determine a second alignment angle of the second optical path pointing device based on information about a position at which the second beacon light reflected by the first prism reaches the second position sensitive detector, and transmit the second alignment angle to the second adjustment module. The second adjustment module is configured to adjust the second alignment angle. The adjusted second alignment angle satisfies a second pointing accuracy threshold.

[0020] It can be understood that the second optical path pointing device can adjust the second alignment angle of the second optical path pointing device based on information about the position where the second beacon light reflected by the first prism of the first optical path pointing device reaches the second position sensitive detector, thereby implementing precision pointing of the second optical path pointing device, which helps to improve the accuracy of tracking and pointing.

[0021] In a possible design, the second optical path pointing device further includes a second prism. The second optical transceiver is further configured to receive the first beacon light emitted by the first optical path pointing device and to emit the first beacon light to the second prism. The second prism is configured to reflect the first beacon light. Information about a position at which the first beacon light reflected by the second prism reaches the first position sensitive detector of the first optical path pointing device is utilized to adjust a first alignment angle of the first optical path pointing device. The adjusted first alignment angle satisfies a first pointing accuracy threshold.

[0022] It can be seen that the second prism in the second optical path pointing device is configured to reflect the first beacon light to the first optical path pointing device. In this way, the first optical path pointing device can adjust a first alignment angle of the first optical path pointing device based on information about a position where the first beacon light reflected by the second prism reaches the first position sensitive detector, and perform fine pointing of the first optical path pointing device. This helps to improve the accuracy of tracking and pointing.

[0023] In a possible design, the second optical transceiver includes a beam splitter and a dichroic mirror. The dichroic mirror is configured to receive the first beacon light emitted by the first optical path pointing device. The dichroic mirror is further configured to emit the first beacon light to the beam splitter. The beam splitter is configured to receive the first beacon light from the dichroic mirror. The beam splitter is further configured to emit the first beacon light to the second prism.

[0024] It can be understood that the second optical transceiver may include, among others, a beam splitter and a dichroic mirror. The first beacon light is reflected or refracted using the beam splitter and the dichroic mirror, so that the second prism in the second optical path pointing device receives the first beacon light of the first optical path pointing device.

[0025] In a possible design, the dichroic mirror is further configured to receive the second beacon light reflected by the first prism. The dichroic mirror is further configured to emit the second beacon light reflected by the first prism to a beam splitter. The beam splitter is further configured to receive the second beacon light reflected by the first prism from the dichroic mirror. The beam splitter is further configured to emit the second beacon light reflected by the first prism to a second position sensitive detector.

[0026] It can be understood that the second beacon light is reflected or refracted using a beam splitter and a dichroic mirror, and a second position-sensitive detector in the second optical path pointing device receives the second beacon light emitted by the second optical path pointing device and reflected by the first prism to perform precision pointing.

[0027] In a possible design, the second optical path pointing device further includes a second imaging module and a sensor. The second imaging module and the sensor are configured to obtain an attitude angle between the second optical path pointing device and the first optical path pointing device and send the attitude angle to a second adjustment module. The second adjustment module is further configured to receive the attitude angle and adjust a second alignment angle of the second optical path pointing device based on the attitude angle. The adjusted second alignment angle satisfies a fourth pointing accuracy threshold, and the fourth pointing accuracy threshold is greater than the first pointing accuracy threshold or the second pointing accuracy threshold.

[0028] It can be understood that the second imaging module and the sensor in the second optical path pointing device and the second adjustment module can jointly perform coarse pointing of the second optical path pointing device, the accuracy of the coarse pointing being lower than the accuracy of the fine pointing.

[0029] In a possible design, the wavelength of the first beacon light is different from the wavelength of the second beacon light.

[0030] It can be understood that the second optical path pointing device is provided with an optical filter for filtering the first beacon light, whereby the second position sensitive detector receives only the second beacon light reflected by the first prism and can adjust a second alignment angle of the second optical path pointing device based on information about the position at which the second beacon light reaches the second position sensitive detector.

[0031] In a possible design, the second optical path pointing device further includes a collimating mirror configured to emit an optical signal to the first optical path pointing device after the second optical path pointing device adjusts the second alignment angle to establish a communication link between the second optical path pointing device and the first optical path pointing device, the communication link and the beacon optical path for transmitting the second beacon light being coupled to each other.

[0032] It can be understood that after the second optical path pointing device adjusts the second alignment angle, the collimating mirror in the second optical path pointing device emits an optical signal to the first optical path pointing device to establish a communication link between the second optical path pointing device and the first optical path pointing device. The communication link and the beacon optical path are coupled to each other, i.e., when the beacon optical path is aligned between the second optical path pointing device and the first optical path pointing device, the communication link is also aligned.

[0033] According to a third aspect, an embodiment of the present application provides an optical path pointing method. The method may be performed by a first optical path pointing device in the first aspect. The first optical path pointing device emits a first beacon light to a second optical path pointing device. The first optical path pointing device receives the first beacon light reflected by a second prism in the second optical path pointing device. The first optical path pointing device adjusts a first alignment angle of the first optical path pointing device based on information about a position at which the first beacon light reflected by the second prism reaches a first position sensitive detector in the first optical path pointing device. The adjusted first alignment angle satisfies a first pointing accuracy threshold.

[0034] It can be understood that the first optical path pointing device can adjust the first alignment angle of the first optical path pointing device based on information about the position where the first beacon light reflected by the second prism of the second optical path pointing device reaches the first position sensitive detector, thereby implementing fine pointing of the first optical path pointing device, which helps to improve the accuracy of tracking and pointing.

[0035] In a possible design, a first optical path pointing device receives a second beacon light emitted by a second optical path pointing device. A first prism in the first optical path pointing device reflects the second beacon light. Information about a position at which the second beacon light reflected by the first prism reaches a second position sensitive detector in the second optical path pointing device is utilized to adjust a second alignment angle of the second optical path pointing device. The adjusted second alignment angle meets a second pointing accuracy threshold.

[0036] It can be seen that the first prism in the first optical path pointing device is configured to reflect the second beacon light to the second optical path pointing device. In this way, the second optical path pointing device can adjust a second alignment angle of the second optical path pointing device based on information about the position where the second beacon light reflected by the first prism reaches the second position sensitive detector, to implement fine pointing of the second optical path pointing device. This helps to improve the accuracy of tracking and pointing.

[0037] In a possible design, the first optical path pointing device obtains an attitude angle between the first optical path pointing device and the second optical path pointing device before the first optical path pointing device adjusts the first alignment angle of the first optical path pointing device based on information about a position where the first beacon light reflected by the second prism reaches the first position sensitive detector in the first optical path pointing device. The first optical path pointing device adjusts the first alignment angle of the first optical path pointing device based on the attitude angle. The adjusted first alignment angle satisfies a third pointing accuracy threshold. The third pointing accuracy threshold is greater than the first pointing accuracy threshold or the second pointing accuracy threshold.

[0038] It can be understood that the first optical path pointing device can perform coarse pointing, the accuracy of which is lower than the accuracy of the fine pointing.

[0039] In a possible design, the wavelength of the first beacon light is different from the wavelength of the second beacon light.

[0040] In a possible design, after the first optical path pointing device adjusts the first alignment angle, a collimating mirror in the first optical path pointing device emits an optical signal to the second optical path pointing device to establish a communication link between the first optical path pointing device and the second optical path pointing device, and the communication link and the beacon optical path for transmitting the first beacon light are coupled to each other.

[0041] It can be understood that after the first optical path pointing device adjusts the first alignment angle, the collimating mirror in the first optical path pointing device emits an optical signal to the second optical path pointing device to establish a communication link between the first optical path pointing device and the second optical path pointing device. The communication link and the beacon optical path are coupled to each other, i.e., when the beacon optical path is aligned between the first optical path pointing device and the second optical path pointing device, the communication link is also aligned.

[0042] It should be noted that the first optical path pointing device in the first embodiment and the second optical path pointing device in the second embodiment have a symmetrical structure, in which case the second optical path pointing device in the second embodiment can also perform the optical path pointing method in the third embodiment.

[0043] According to a fourth aspect, an embodiment of the present application provides a first optical path pointing apparatus. The first optical path pointing apparatus may be a device or chip, or a circuit located within a device. The first optical path pointing apparatus may utilize a processor to perform functions implemented by the units and / or modules provided in the first aspect and / or any possible design of the first aspect.

[0044] According to a fifth aspect, an embodiment of the present application provides a second optical path pointing device. The second optical path pointing device may be a device or chip, or a circuit located within the device. SecondThe optical path pointing device may utilise a processor to perform functions implemented by the units and / or modules provided in the second aspect and / or any possible designs of the second aspect.

[0045] According to a sixth aspect, an embodiment of the present application provides an optical path pointing system, the optical path pointing system comprising a first optical path pointing device as provided in the first aspect or the fourth aspect, and a second optical path pointing device as provided in the second aspect or the fifth aspect.

[0046] According to a seventh aspect, an embodiment of the present application provides a computer readable storage medium. The readable storage medium includes a program or instructions. When the program or instructions are executed on a computer, the computer performs the third aspect or any possible embodiment of the third aspect. design It becomes possible to carry out the method in

[0047] According to an eighth aspect, an embodiment of the present application provides a chip or chip system, the chip or chip system including at least one processor and an interface, the interface being interconnected with the at least one processor via a line, the at least one processor executing a computer program or instruction to perform the third aspect or any possible one of the third aspect. design The present invention is configured to carry out the method described in

[0048] The interface within the chip may be an input / output interface, a pin, or a circuit, etc.

[0049] The chip system in the above embodiment may be a system-on-a-chip (SOC), a baseband chip, etc. The baseband chip may include a processor, a channel encoder, a digital signal processor, a modem, and an interface module, etc.

[0050] In a possible implementation, the chip or chip system described in this application further includes at least one memory for storing instructions, which may be a storage unit within the chip, such as a register or cache, or may be a storage unit of the chip (e.g., a read-only memory or a random access memory).

[0051] According to a ninth aspect, an embodiment of the present application provides a computer program or computer program product comprising code or instructions, which when executed on a computer cause the computer to perform the third aspect or any possible embodiment of the third aspect. design It becomes possible to carry out the method in [Brief description of the drawings]

[0052] [Figure 1] FIG. 1 is a schematic diagram of an optical path system. [Diagram 2] FIG. 1 is a schematic diagram of an optical path pointing system according to an embodiment of the present application. [Diagram 3] FIG. 2 is a schematic diagram of an alignment angle according to an embodiment of the present application. [Figure 4] 2 is a schematic diagram of a beacon optical path of an optical path pointing system according to an embodiment of this application; [Figure 5a] FIG. 2 is a schematic diagram of another optical path pointing system according to an embodiment of the present application. [Figure 5b] FIG. 2 is a schematic diagram of yet another optical path pointing system according to an embodiment of the present application. [Figure 5c] FIG. 2 is a schematic diagram of yet another optical path pointing system according to an embodiment of the present application. [Figure 5d] FIG. 2 is a schematic diagram of yet another optical path pointing system according to an embodiment of the present application. [Figure 6] 1 is a schematic diagram of an ATP optical path system according to an embodiment of the present application. [Figure 7]1 is a schematic flow chart of an optical path pointing method according to an embodiment of the present application. [Figure 8A] 2 is a schematic diagram of an optical path obtained through rotation of an optical path pointing device according to an embodiment of the present application; [Figure 8B] 2 is a schematic diagram of an optical path obtained through rotation of an optical path pointing device according to an embodiment of the present application; [Figure 9] FIG. 2 is a schematic diagram of the structure of a first optical path pointing device according to an embodiment of this application; [Figure 10] FIG. 2 is a schematic diagram of the structure of a second optical path pointing device according to an embodiment of this application; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0053] The following describes the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application.

[0054] Free space optical communication (FSO) refers to a communication technology that uses light waves as a carrier to transmit information in vacuum or atmosphere. Fast and accurate acquisition, tracking, and pointing (ATP) technology is the core technology required to guarantee long-distance space optical communication. ATP systems generally include a target acquisition (coarse tracking) system and a tracking and pointing (fine tracking) system.

[0055] A coarse tracking system is used to capture targets with a large field of view, and the capture range can be from ±1° to ±20° or more. A coarse tracking system is generally implemented using a charge-coupled device (CCD) array, together with a bandpass optical filter and a servo system with real-time signal processing to complete the coarse tracking. Generally, in coarse tracking, the field of view is several milliradians (mrad), the sensitivity is about 10 picowatts (pW), and the tracking accuracy is tens of milliradians.

[0056] After target acquisition is complete, a fine tracking system is typically used to point and track the target in real time using a four-quadrant infrared detector (QD) or Q-APD high-sensitivity position sensor along with a corresponding servo system. Fine tracking requires a tracking accuracy of several radians (rad) and a tracking sensitivity of several nanowatts (nW).

[0057] FIG. 1 is a schematic diagram of the structure of an optical path system. The optical path system includes an access point (AP) and a station (STA). The AP is the creator of the network and the central node of the network. For example, a wireless router used in a home or office is an AP. Each terminal connected to the wireless network (e.g., a laptop, a personal digital assistant (PDA), or other user device that can connect to the network) may be called a station.

[0058] In the optical path system shown in Fig. 1, the optical path structure on the AP side and the optical path structure on the STA side are designed according to the same principle, that is, the AP side and the STA side have the same optical path structure. The optical path structure on the AP side includes a collimating mirror 101, a dichroic mirror 102, a beam splitter 103, a beam splitter 104, a position sensitive detector (PSD) 105, a light generator 106, an imaging module and sensor 107, a marker 108, and a servo system 109. The optical path structure on the STA side includes a collimating mirror 110, a dichroic mirror 111, a beam splitter 112, a beam splitter 113, a position sensitive detector 114, a light generator 115, an imaging module and sensor 116, a marker 117, and a servo system 118.

[0059] A dichroic mirror, sometimes called a bichromatic mirror, is configured to refract or transmit the beacon light emitted by the light generator, and can be considered as an optical transceiver. A dichroic mirror has a characteristic of almost completely transmitting light of a specific wavelength and almost completely reflecting light of other wavelengths. For example, the dichroic mirror 102 on the AP side can almost completely transmit the beacon light emitted from the STA side to the beam splitter 103 on the AP side.

[0060] The beam splitter is configured to split the white light into monochromatic lights of different wavelengths using a dispersive element (e.g., a prism or a grating) to form a continuous visible light spectrum. The beam splitter may also be considered as an optical transceiver. For example, the beam splitter on the AP side may refract the beacon light emitted from the STA side to the position sensitive detector 105 on the AP side.

[0061] The collimating mirror is connected to the optical signal generator using an optical fiber, and is configured to receive an optical signal transmitted by the optical signal generator using the optical fiber and transmit the optical signal to the STA side to establish a communication link.

[0062] For example, the collimating mirror 101 on the AP side is configured to transmit an optical signal in the optical fiber on the AP side to the collimating mirror 110 on the STA side to establish a communication link between the AP side and the STA side. Similarly, the collimating mirror 110 on the STA side is configured to transmit an optical signal in the optical fiber on the STA side to the collimating mirror 101 on the AP side to establish a communication link between the AP side and the STA side.

[0063] It should be noted that Fig. 1 is a schematic plan view of an optical path system. The collimating mirror 101 is actually further connected to an optical fiber on the AP side, and the optical fiber on the AP side is connected to an optical signal generator and configured to transmit an optical signal to the collimating mirror 101. The optical fiber and the optical signal generator on the AP side are not shown in Fig. 1. Similarly, the collimating mirror 110 is actually further connected to an optical fiber on the STA side, and the optical fiber on the STA side is connected to an optical signal generator, and the optical fiber and the optical signal generator on the STA side are not shown in Fig. 1.

[0064] The light generator is configured to generate and emit a beacon light (e.g., a laser light) to establish a beacon light path. The light generator in this embodiment may include, but is not limited to, a laser, a light emitting diode, and the like.

[0065] For example, in the optical path system shown in FIG. 1, the optical generator 106 on the AP side generates a beacon light 119 and radiates the beacon light 119 to the beam splitter 104. The beam splitter 104 radiates the beacon light 119 to the dichroic mirror 102, which receives the beacon light 119 and radiates the beacon light 119 to the dichroic mirror 111 on the STA side. The dichroic mirror 111 on the STA side receives the beacon light 119 and radiates the beacon light 119 to the beam splitter 112. The beam splitter 112 receives the beacon light 119 and radiates the beacon light 119 to the beam splitter 113. The beam splitter 113 receives the beacon light 119 and radiates the beacon light 119 to the position sensitive detector 114, thus establishing a beacon optical path from the AP side to the STA side as shown in FIG. 1.

[0066] In another example, in the optical path system shown in FIG. 1, the optical generator 115 on the STA side generates the beacon light 120 and radiates the beacon light 120 to the beam splitter 112. The beam splitter 112 receives the beacon light 120 and radiates the beacon light 120 to the dichroic mirror 111. The dichroic mirror 111 receives the beacon light 120 and radiates the beacon light 120 to the dichroic mirror 102 on the AP side. The dichroic mirror 102 receives the beacon light 120 and radiates the beacon light 120 to the beam splitter 104. The beam splitter 104 receives the beacon light 120 and radiates the beacon light 120 to the beam splitter 103. The beam splitter 103 receives the beacon light 120 and radiates the beacon light 120 to the position sensitive detector 105, thereby establishing a beacon light path from the STA side to the AP side.

[0067] It should be noted that in this embodiment, the beacon light emitted by the beam splitter may be the beacon light transmitted by the beam splitter or the beacon light reflected by the beam splitter. Similarly, the beacon light emitted by the dichroic mirror may be the beacon light refracted by the dichroic mirror or the beacon light transmitted by the dichroic mirror. The specific implementation is not limited in this embodiment.

[0068] In the end, the beacon light 119 from the AP side to the STA side passes through a beacon light path formed by reflection or refraction of multiple elements, and the beacon light 120 from the STA side to the AP side passes through a beacon light path formed by reflection or refraction of multiple elements to form a beacon light path between the AP side and the STA side. In the light path system shown in Fig. 1, the communication link and the beacon light path between the AP side and the STA side are completely coupled. Therefore, when the beacon light path between the AP side and the STA side is aligned, the communication link between the AP side and the STA side is also aligned.

[0069] The position sensitive detector features high position resolution, the ability to reduce interference from sunlight, the ability to simultaneously measure position and intensity, high reliability, etc., and can be widely used in measuring and controlling light position and angle, monitoring displacement and vibration, laser beam calibration, etc. In this embodiment, the PSD can be used to perform laser beam calibration for the function of measuring the position of the PSD.

[0070] For example, the position sensitive detector 105 on the AP side is configured to obtain PSD information on the AP side. The PSD information may be the displacement of the position sensitive detector 105 caused by the rotation of the servo system 109 on the AP side. The position sensitive detector 105 on the AP side may calculate an alignment angle on the AP side based on the PSD information on the AP side, and adjust the alignment angle on the AP side using the servo system to implement the beacon light path alignment between the AP side and the STA side. On the AP side, the position sensitive detector 105 and the servo system 109 may be understood to be configured to implement the fine tracking of the target (STA side). Correspondingly, the servo system 118 and the position sensitive detector 114 on the STA side have similar functions. Details will not be described again here.

[0071] The imaging module and the sensor are configured to obtain image information using a CCD image sensor, and may include the following modules: a front-end optical system, a CCD imaging module, an analog-to-digital conversion module, an image processing module, and a data storage module. It should be noted that in this embodiment, the imaging module may be implemented by running a specific software code on a processor, or the imaging module may be implemented using an application specific integrated circuit, which is not limited in this embodiment. The marker is used to indicate the position of the servo system, so that the imaging module and the sensor can find the marker and determine the position of the servo system during area scanning. The servo system is a rotatable device used to carry various elements in the above embodiment (including the collimating mirror, the light generator, the beam splitter, the dichroic mirror, the position sensitive detector, the imaging module and the sensor, and the marker). For example, the servo system may be a rotating platform, or other system that can rotate, which is not limited in this embodiment.

[0072] For example, the imaging module and sensor 107 and servo system 109 on the AP side may perform an area scan to find the marker 117 on the STA side, and determine the position of the servo system 118 on the STA side. The imaging module and sensor 107 on the AP side may further determine an attitude angle between the marker 108 on the AP side and the marker 117 on the STA side, and perform coarse pointing by adjusting the attitude angle. Correspondingly, the imaging module and sensor 116, the marker 117, and the servo system 118 on the STA side also have similar functions. Details will not be described again here.

[0073] Based on the design of the optical path system shown in Fig. 1, it can be understood that when the beacon optical path between the AP side and the STA side is aligned, the communication link is also aligned. However, in a long-distance scenario (for example, the distance between the AP side and the STA side is more than 5 meters), when the optical path system shown in Fig. 1 performs pointing based on the beacon light, the CCD has a large precision error. Therefore, the fine tracking system including the position sensitive detector and the servo system needs to calculate the rotation angle of the servo system based on the information of the position sensitive detector. However, in this scenario, the information value read by the position sensitive detector is small and fluctuates. This leads to an inaccurate rotation angle of the servo system for calculation, thereby reducing the accuracy of tracking and pointing.

[0074] To solve the above problems, the embodiments of this application provide an optical path pointing device, an optical path pointing method and an optical path pointing system, which are helpful to improve the tracking and pointing accuracy.

[0075] FIG. 2 illustrates an optical path pointing system according to an embodiment of this application. The optical path pointing system includes two ends, namely a first optical path pointing device 201 and a second optical path pointing device 202. The first optical path pointing device 201 includes a first optical transceiver 203, a first position sensitive detector 204, and a first adjustment module 205. The second optical path pointing device 202 includes a second optical transceiver 206 and a second prism 207. The optical path pointing system illustrated in FIG. 2 can be considered as a fine tracking system.

[0076] The first optical transceiver 203 in the first optical path pointing device 201 is configured to emit a first beacon light to the second optical path pointing device 202. For example, the first optical transceiver 203 emits the first beacon light to the second optical transceiver 206 in the second optical path pointing device 202. Correspondingly, the second optical transceiver 206 in the second optical path pointing device 202 receives the first beacon light and emits the first beacon light to the second prism 207.

[0077] The prism can change the light propagation direction and has the function of folding the light path symmetrically. The prism in this embodiment can include, but is not limited to, a pyramidal prism, a triangular prism, etc. For example, based on the optical path of the first beacon light from the first optical path pointing device 201 to the second optical path pointing device 202, the second prism 207 in the second optical path pointing device 202 can reflect the received first beacon light back to the first optical path pointing device 201.

[0078] The first optical transceiver 203 is further configured to receive the first beacon light reflected by a second prism 207 in the second optical path pointing device 202. For example, the second prism 207 reflects the first beacon light, i.e., the second optical transceiver 206 emits the first beacon light to the first optical transceiver 203. The first optical transceiver 203 receives the first beacon light reflected by the second prism 207 and emits the first beacon light reflected by the second prism 207 to the first position sensitive detector 204. Correspondingly, the first position sensitive detector 204 receives the first beacon light reflected by the second prism 207.

[0079] The first position sensitive detector 204 is configured to determine a first alignment angle of the first optical path pointing device 201 based on information about a position where the first beacon light reflected by the second prism 207 reaches the first position sensitive detector 204, and send the first alignment angle to the first adjustment module 205. The first alignment angle may be considered as an adjusted alignment angle in the fine tracking system.

[0080] The first adjustment module 205 is configured to adjust a first alignment angle of the first optical path pointing device 201, and the adjusted first alignment angle satisfies a first pointing accuracy threshold. The first adjustment module 205 may be a servo system in the embodiment of Fig. 1, or a rotatable system (e.g., a rotating platform), which is not limited in this application. The first adjustment module 205 adjusts the first alignment angle by rotation.

[0081] For example, the first position sensitive detector 204 may calculate and determine a first alignment angle and send the first alignment angle to the first adjustment module 205. The first adjustment module 205 receives the first alignment angle and adjusts the first alignment angle by rotation such that the adjusted first alignment angle meets a first pointing accuracy threshold.

[0082] The first pointing accuracy threshold may be accurate to two decimal places or three decimal places or more. For example, the first pointing accuracy threshold may be ±0.03° or a smaller unit. The first pointing accuracy threshold is merely an example and is not limited in this embodiment.

[0083] For example, FIG. 3 is a schematic diagram of an alignment angle according to an embodiment of this application. A first optical path pointing device is used as an example. The optical path shown by a solid line in FIG. 3 is an initial optical path formed by folding back the first beacon light by the second prism before the first optical path pointing device rotates. The optical path shown by a dashed line in FIG. 3 is an optical path formed by folding back the first beacon light by the second prism after the first optical path pointing device rotates. In FIG. 3, the displacement of the first position-sensitive detector in the rotated first optical path pointing device is ΔPSD, and the displacement ΔPSD indicates a position shift value between the position where the first beacon light in the initial optical path reaches the first position-sensitive detector and the position where the first beacon light in the optical path obtained through the rotation reaches the first position-sensitive detector. As shown in FIG. 3, the optical path distance between the first position-sensitive detector and the second prism is L, and the rotation angle of the first optical path pointing device is α. The rotation angle α of the first optical path pointing device is equal to the first alignment angle.

[0084] Based on the parameters described in FIG. 3, a calculation formula for the first alignment angle of the first optical path pointing device can be derived as tan(α)≒ΔPSD / L. In other words, by folding back the first beacon light through the second prism, the first position-sensitive detector can calculate the first alignment angle. After determining the first alignment angle through calculation, the first position-sensitive detector sends the first alignment angle to the first adjustment module, so that the first adjustment module can adjust the first alignment angle and improve the pointing accuracy of the fine tracking system.

[0085] FIG. 4 illustrates a beacon light path between the first optical path pointing device 201 and the second optical path pointing device 202 in the embodiment of FIG. 2. The first optical path pointing device 201 utilizes the first optical transceiver 203 to emit a first beacon light to the second optical path pointing device 202. The beacon light path is illustrated by a solid line between the first optical transceiver 203 and the second optical transceiver 206 in FIG. 4. The second optical transceiver 206 in the second optical path pointing device 202 receives the first beacon light and emits the first beacon light to the second prism 207. The beacon light path is illustrated by a solid line between the second optical transceiver 206 and the second prism 207 in FIG. 4. In other words, the light path illustrated by the solid line in FIG. 4 may represent an initial light path of the first beacon light.

[0086] If the second prism 207 has a function of symmetrically folding back the optical path, the second prism 207 may reflect the first beacon light to the second optical transceiver 206. The beacon light path is shown by a dashed line between the second prism 207 and the second optical transceiver 206 in FIG. 4. The second optical transceiver 206 receives the first beacon light reflected by the second prism 207 and emits the first beacon light reflected by the second prism 207 to the first optical transceiver 203. The beacon light path is shown by a dashed line between the second optical transceiver 206 and the first optical transceiver 203 in FIG. 4. The first optical transceiver 203 receives the first beacon light reflected by the second prism 207 and emits the first beacon light reflected by the second prism 207 to the first position-sensitive detector 204. The beacon light path is indicated by a dashed line between the first optical transceiver 203 and the first position sensitive detector 204 in Fig. 4. In other words, the light path indicated by the dashed line in Fig. 4 may represent a return light path of the first beacon light, and the return light path and the initial light path of the first beacon light in Fig. 4 may be regarded as symmetrical or perfectly coincident light paths.

[0087] It can be seen that the second prism 207 symmetrically reflects the first beacon light emitted by the first optical path pointing device 201 to the first position sensitive detector 204, so that the first optical path pointing device 201 can determine a first alignment angle based on information about the position at which the reflected first beacon light arrives at the first position sensitive detector 204. The first position sensitive detector 204 transmits the first alignment angle to the first adjustment module 205, so that the first adjustment module can adjust the first alignment angle by rotation to align the beacon light paths between the first optical path pointing device 201 and the second optical path pointing device 202. This helps to improve the pointing accuracy of the fine tracking system.

[0088] In an example, based on the optical path pointing system shown in Fig. 2, as shown in Fig. 5a, the first optical transceiver 203 may include, among other things, a dichroic mirror 203a and a beam splitter 203b. Similarly, the second optical transceiver 206 also includes, among other things, a dichroic mirror 206a and a beam splitter 206b. Optionally, the first optical path pointing device 201 further includes a first light generator 208. The first light generator 208 is configured to generate a first beacon light and emit the first beacon light to the second optical path pointing device 202.

[0089] In the implementation, the beam splitter 203b is configured to receive the first beacon light emitted by the first light generator 208 and emit the first beacon light to the dichroic mirror 203a. The dichroic mirror 203a is configured to receive the first beacon light emitted by the beam splitter 203b and emit the first beacon light to the dichroic mirror 206a in the second optical transceiver. The dichroic mirror 206a is configured to receive the first beacon light emitted by the dichroic mirror 203a and emit the first beacon light to the beam splitter 206b. The beam splitter 206b is configured to receive the first beacon light emitted by the dichroic mirror 206a and emit the first beacon light to the second prism 207. It can be understood that the first beacon light is emitted from the first light generator 208 and passes through the above-mentioned modules to reach the second prism. The initial optical path of the first beacon light is shown by a solid line in FIG. 5a.

[0090] In the implementation, the second prism 207 reflects the first beacon light Receiveand reflecting the first beacon light to beam splitter 206b. Beam splitter 206b is further configured to receive the first beacon light reflected by the second prism and emit the first beacon light reflected by the second prism to dichroic mirror 206a. Dichroic mirror 206a is further configured to receive the first beacon light reflected by the second prism and emit the first beacon light reflected by the second prism to dichroic mirror 203a of the first optical transceiver. Dichroic mirror 203a is further configured to receive the first beacon light reflected by the second prism and emit the first beacon light reflected by the second prism to beam splitter 203b. The beam splitter 203b is further configured to receive the first beacon light reflected by the second prism and emit the first beacon light reflected by the second prism to the first position sensitive detector 204. It can be seen that the first beacon light is folded back to the first position sensitive detector through reflection of the second prism, and the folded back optical path of the first beacon light is indicated by the dashed line in Fig. 5a.

[0091] That is, in the first optical path pointing device 201, the dichroic mirror 203a and the beam splitter 203b cooperate to implement the function of the first optical transceiver 203. In the second optical path pointing device 202, the dichroic mirror 206a and the beam splitter 206b cooperate to implement the function of the first optical transceiver 203. Second Optical Transceiver 206 Implement the functionality.

[0092] In an example, based on the optical path pointing system shown in FIG. 5a, as shown in FIG. 5b, the first optical path pointing device 201 further includes a first prism 209, and the second optical path pointing device further includes a second light generator 210, a second position-sensitive detector 211, and a second adjustment module 212.

[0093] The second light generator 210 is configured to generate a second beacon light and emit the second beacon light to the first optical path pointing device 201. The first prism 209 is configured to receive and reflect the second beacon light. The second position sensitive detector 211 is configured to receive the second beacon light reflected by the first prism and determine a second alignment angle based on a position where the second beacon light reflected by the first prism reaches the second position sensitive detector. The second position sensitive detector 211 is further configured to transmit the second alignment angle to the second adjustment module 212, which adjusts the second alignment angle through rotation such that the adjusted second alignment angle meets a second pointing accuracy threshold. The second pointing accuracy threshold is similar to the first pointing accuracy threshold and may be accurate to two decimal places or more than two decimal places. The value range of the second pointing accuracy threshold and the value range of the first pointing accuracy threshold may be the same as or different from each other, and are not limited thereto in this embodiment.

[0094] In the implementation, the initial optical path for emitting the second beacon light by the second optical path pointing device to the first optical path pointing device may be considered to include the following sections: the second light generator 210 is configured to generate the second beacon light and emit the second beacon light to the beam splitter 206b. The beam splitter 206b is configured to receive the second beacon light and emit the second beacon light to the dichroic mirror 206a. The dichroic mirror 206a is configured to receive the second beacon light and emit the second beacon light to the dichroic mirror 203a. The dichroic mirror 203a is configured to receive the second beacon light and emit the second beacon light to the beam splitter 203b. The beam splitter 203b is configured to receive the second beacon light and emit the second beacon light to the first prism 209. The second beacon light passes through the above-mentioned elements, and the optical path formed by the second beacon light can be understood to be the initial optical path of the second beacon light, as shown by the solid line in Figure 5b.

[0095] In this embodiment, the first beacon light and the second beacon light are defined as lights having different wavelengths. In the first optical path pointing device 201, the beam splitter 203b may receive the first beacon light reflected by the second prism and may receive the second beacon light emitted by the second optical path pointing device. That is, the beam splitter 203b may emit the first beacon light reflected by the second prism and the second beacon light emitted by the second optical path pointing device to the first position sensitive detector 204. Because the first beacon light and the second beacon light have different wavelengths, an optical filter may be disposed between the first position sensitive detector 204 and the beam splitter 203b to filter the second beacon light, so that the first position sensitive detector 204 receives only the first beacon light reflected by the second prism and calculates the first alignment angle based on information about the position at which the first beacon light reflected by the second prism reaches the first position sensitive detector.

[0096] In the implementation, like the second prism 207, the first prism 209 also has the function of folding back the optical path symmetrically. In Fig. 5b, the folded optical path of the second beacon light reflected by the first prism 209 can be considered to include the following sections: the first prism 209 is configured to reflect the second beacon light to the beam splitter 203b. The beam splitter 203b is configured to receive the second beacon light reflected by the first prism and emit the second beacon light reflected by the first prism to the dichroic mirror 203a. The dichroic mirror 203a is configured to receive the second beacon light reflected by the first prism and emit the second beacon light reflected by the first prism to the dichroic mirror 206a. The dichroic mirror 206a is configured to receive the second beacon light reflected by the first prism and emit the second beacon light reflected by the first prism to the beam splitter 206b. The beam splitter 206b is further configured to receive the second beacon light reflected by the first prism and emit the second beacon light reflected by the first prism to the second position sensitive detector 211. The second beacon light passes through the above-mentioned multiple modules, and the optical path formed by the second beacon light can be understood as a folded optical path of the second beacon light, as shown by the dashed line in Fig. 5b.

[0097] The second position-sensitive detector 211 is configured to receive the second beacon light reflected by the first prism 209, and calculate a second alignment angle based on the position at which the second beacon light reflected by the first prism reaches the second position-sensitive detector 211. For specific implementation, please refer to the calculation of the alignment angle in the embodiment of FIG. 3. The details will not be described again here.

[0098] Because the first beacon light and the second beacon light have different wavelengths, an optical filter may be disposed between the second position sensitive detector 211 and the beam splitter 206b in the second optical path pointing device 202, similar to the optical filter disposed in the first optical path pointing device 201. The optical filter is configured to filter the first beacon light, such that the second position sensitive detector 211 receives only the second beacon light reflected by the first prism 209, and calculates a second alignment angle based on information about the position at which the second beacon light reflected by the first prism reaches the second position sensitive detector 211.

[0099] It can be understood that in the optical path pointing system shown in Fig. 5b, the first prism is disposed in the first optical path pointing device, and based on the characteristic of using the first prism to symmetrically fold the optical path, the second beacon light emitted by the second optical path pointing device is reflected to the second position-sensitive detector according to the folded optical path, thereby adjusting the second alignment angle of the second optical path pointing device. According to the optical path pointing system shown in Fig. 5b, the second prism is disposed in the second optical path pointing device, and based on the characteristic of using the second prism to symmetrically fold the optical path, the first beacon light emitted by the first optical path pointing device is reflected to the first position-sensitive detector according to the folded optical path, thereby adjusting the first alignment angle of the first optical path pointing device. This is helpful to improve the pointing accuracy of the fine tracking system.

[0100] Optionally, based on the optical path pointing system shown in Fig. 5b, the first optical path pointing device 201 further includes a first imaging module and sensor 213 and a marker 214. The second optical path pointing device 202 further includes a second imaging module and sensor 215 and a marker 216. The multiple modules are configured to implement coarse pointing between the first optical path pointing device and the second optical path pointing device, as shown in Fig. 5c.

[0101] The first imaging module and sensor 213 is configured to obtain an attitude angle between the first optical path pointing device 201 and the second optical path pointing device 202, and send the attitude angle to the first adjustment module 205. The first adjustment module 205 is configured to receive the attitude angle and adjust a first alignment angle of the first optical path pointing device 201 based on the attitude angle, where the adjusted first alignment angle satisfies a third pointing accuracy threshold. The attitude angle is an angle (including a horizontal angle and a vertical angle) between the center of the first imaging module and sensor 213 and the marker 216 of the second optical path pointing device. That is, the first imaging module and sensor 213 and the first adjustment module 205 are configured to implement coarse pointing between the first optical path pointing device 201 and the second optical path pointing device 202.

[0102] Similarly, the second imaging module and sensor 215 has the same function as the first imaging module and sensor 213, and is configured to perform coarse pointing between the second optical path pointing device 202 and the first optical path pointing device 201. It should be noted that the third pointing accuracy threshold is a coarse pointing accuracy threshold, that is, the third pointing accuracy threshold is greater than the first pointing accuracy threshold or the second pointing accuracy threshold. For example, the third pointing accuracy threshold can have an accuracy of one decimal place. For example, the third pointing accuracy threshold can be ±0.1°, which is not limited in this embodiment.

[0103] Optionally, based on the optical path pointing system shown in Fig. 5b, as shown in Fig. 5d, the first optical path pointing device 201 further includes a first collimating mirror 217, and the second optical path pointing device 202 further includes a second collimating mirror 218. In the first optical path pointing device 201, the first collimating mirror 217 is configured to emit an optical signal to the second optical path pointing device 202 to establish a communication link between the first optical path pointing device 201 and the second optical path pointing device 202, as shown by the dashed line in Fig. 5d. The communication link and the beacon optical path for transmitting the first beacon light are mutually coupled, i.e., when the beacon optical path between the first optical path pointing device 201 and the second optical path pointing device 202 is aligned, the communication link coupled to the beacon optical path is also aligned. Similarly, the second collimating mirror 218 has a similar function to the first collimating mirror 217, and is configured to emit an optical signal to the first optical path pointing device 201. It should be noted that the first collimating mirror 217 or the second collimating mirror 218 can be connected to the optical signal generating device using an optical fiber and can receive the optical signal using an optical fiber.

[0104] Based on the pointing of the optical path pointing system in Figures 2 to 5d, the ATP optical path system will be described in detail below with the aid of a specific example. Figure 6 is a schematic diagram of the structure of the ATP optical path system according to an embodiment of this application. The AP side includes a collimating mirror 301, a dichroic mirror 302, a beam splitter 303, a beam splitter 304, a prism 305, a position sensitive detector 306, a light generator 307, an imaging module and sensor 308, a marker 309, and a servo system 310. andIncluding. Compared with the AP side of the optical path system shown in FIG. 1, it can be understood that the prism 305 is additionally disposed on the AP side of the ATP optical path system shown in FIG. 6, and is configured to realize the function implemented by the first prism in the embodiment shown in FIG. 5b to FIG. 5d. For specific implementation, please refer to the related description of the first prism in the above embodiment. The details will not be described again here.

[0105] The STA side includes a dichroic mirror 311, a collimating mirror 312, a beam splitter 313, a beam splitter 314, a prism 315, a position sensitive detector 316, a light generator 317, an imaging module and sensor 318, a marker 319, and a servo system 320. Compared with the STA side of the optical path system shown in FIG. 1, it can be understood that the prism 315 is additionally disposed on the STA side of the ATP optical path system shown in FIG. 6, and is configured to realize the function implemented by the second prism in the embodiment shown in FIG. 4 to FIG. 5d. For specific implementation, please refer to the related description of the second prism in the above embodiment. Details will not be described again here.

[0106] For example, in the ATP optical path system shown in Fig. 6, the AP side and the STA side use a prism to reflect each other's beacon light and perform optical path alignment. On the AP side, the AP side light generator 307 emits a first beacon light, which is emitted to the dichroic mirror 302 using the beam splitter 303, and then emitted to the dichroic mirror 311 on the STA side using the dichroic mirror 302. The dichroic mirror 311 receives the first beacon light and emits the first beacon light to the beam splitter 313. The beam splitter 313 further emits the first beacon light to the beam splitter 314, and the beam splitter 314 further emits the first beacon light to the prism 315.

[0107] In this embodiment, by utilizing the characteristic of symmetrically folding back the optical path of the prism 315, the optical path of the prism 315 reflecting the first beacon light is the same as the optical path of the AP side emitting the first beacon light, that is, the first beacon light returns to the beam splitter 303 through the original path. The beam splitter 303 emits the first beacon light to the beam splitter 304, which emits the first beacon light to the position sensitive detector 306, so that the position sensitive detector 306 calculates a first alignment angle based on the position where the first beacon light arrives at the position sensitive detector. The servo system 310 adjusts the first alignment angle, so that the AP side and the STA side are aligned.

[0108] In another example, the same procedure as that of the AP side is used for the STA side. The second beacon light emitted from the STA side is emitted to the prism 305 through the beam splitter 313, the dichroic mirror 311, the dichroic mirror 302, the beam splitter 303, and the beam splitter 304. In this embodiment, by utilizing the characteristic of the prism 305 to symmetrically fold back the optical path, the optical path that the prism 305 reflects the second beacon light is the same as the optical path that the STA side transmits the second beacon light, that is, the second beacon light returns to the beam splitter 313 through the original path. The beam splitter 313 emits the second beacon light to the beam splitter 314, which emits the second beacon light to the position sensitive detector 316, so that the position sensitive detector 316 calculates the second alignment angle based on the position where the second beacon light arrives at the position sensitive detector. The servo system 320 adjusts the second alignment angle, so that the STA side and the AP side are aligned.

[0109] It should be noted that the beam splitter 314 may also refract the first beacon light to the position sensitive detector 316 on the STA side, but an optical filter may be placed between the position sensitive detector 316 and the beam splitter 314, so that the first beacon light is filtered, i.e., the first beacon light does not reach the position sensitive detector 316. Similarly, the beam splitter 304 may also refract the second beacon light to the position sensitive detector 306 on the AP side, but an optical filter may be placed between the position sensitive detector 306 and the beam splitter 304, so that the second beacon light is filtered, i.e., the second beacon light does not reach the position sensitive detector 306.

[0110] Based on the description of the optical path pointing system in the embodiment of Figures 2 to 6, the following will describe in detail the optical path pointing method used in the optical path pointing system. Figure 7 shows the optical path pointing method in the embodiment of this application. The optical path pointing method may be performed by a first optical path pointing device in the optical path pointing system shown in Figure 2, and specifically includes the following steps:

[0111] 401: A first optical path pointing device emits a first beacon light to a second optical path pointing device.

[0112] 402: A first optical path pointing device receives a first beacon light reflected by a second prism in a second optical path pointing device.

[0113] 403: The first optical path pointing device adjusts a first alignment angle of the first optical path pointing device based on information about a position at which the first beacon light reflected by the second prism reaches a first position-sensitive detector in the first optical path pointing device, the adjusted first alignment angle satisfying a first pointing accuracy threshold.

[0114] The first optical path pointing device emits a first beacon light to the second optical path pointing device. In particular, the first optical transceiver in the first optical path pointing device emits the first beacon light to the second optical transceiver in the second optical path pointing device. The second optical transceiver then emits the first beacon light to the second prism in the second optical path pointing device. For specific implementation, please refer to the related description of the first optical transceiver, the second optical transceiver, the second prism, and the initial optical path of the first beacon light in the embodiment of Figures 2 to 5d. The details will not be described again here.

[0115] The first optical path pointing device receives the first beacon light reflected by the second prism in the second optical path pointing device. In particular, the first optical transceiver in the first optical path pointing device receives the first beacon light reflected by the second prism, and the first optical transceiver emits the first beacon light reflected by the second prism to the first position-sensitive detector. That is, the first position-sensitive detector receives the first beacon light reflected by the second prism. For specific implementation, please refer to the related description of the first optical transceiver, the second optical transceiver, the second prism, the first position-sensitive detector, and the folded optical path of the first beacon light in the embodiment of Figures 2 to 5d. Details will not be described again here.

[0116] The first position-sensitive detector in the first optical path pointing device may determine a first alignment angle based on information about the position at which the first beacon light reflected by the second prism reaches the first position-sensitive detector. The first position-sensitive detector then transmits the first alignment angle to a first adjustment module in the first optical path pointing device. The first adjustment module may adjust the first alignment angle, so that the adjusted first alignment angle meets the first pointing accuracy threshold. For specific implementation, please refer to the related descriptions of the first position-sensitive detector, the first alignment angle, and the first adjustment module in the embodiments of Figures 2 to 5d. Details will not be described again here.

[0117] For example, Figures 8A and 8B are schematic diagrams of optical paths obtained through rotation of an optical path pointing device according to an embodiment of this application. To facilitate the explanation of the alignment angle, the first optical path pointing device is simplified as a rotating platform 1 in Figures 8A and 8B, which includes a light generator, an optical transceiver, a prism, and a position sensitive detector. The second optical path pointing device is simplified as a rotating platform 2, which includes a light generator, an optical transceiver, a prism, and a position sensitive detector. When neither the rotating platform 1 nor the rotating platform 2 is rotating, in the rotating platform 1, the optical transceiver in the rotating platform 1 emits a beacon light to the rotating platform 2. The prism of the rotating platform 2 symmetrically reflects the beacon light, and the optical transceiver in the rotating platform 1 receives the beacon light symmetrically reflected by the prism and emits the beacon light symmetrically reflected by the prism to the position sensitive detector to form an initial optical path, as shown in FIG. 8A and FIG. 8B. The first position sensitive detector may calculate an alignment angle based on information about the position where the beacon light in the initial optical path reaches the position sensitive detector. If the alignment angle meets the preset first pointing accuracy threshold, the first optical path pointing device is aligned with the second optical path pointing device in the initial state. Similarly, the rotating platform 2 may also perform the above steps using the optical generator, the optical transceiver, the prism, and the position sensitive detector to establish an initial optical path, and determine that the first optical path pointing device is aligned with the second optical path pointing device in the initial state. Details will not be described again here.

[0118] After the rotating platform 1 rotates to a certain angle, the position sensitive detector in the rotating platform 1 can determine whether the optical path obtained through the rotation is aligned based on information about the position where the beacon light of the rotating platform 1 reaches the position sensitive detector. For example, the optical generator in the rotating platform 1 continuously emits the beacon light to the rotating platform 2, the prism in the rotating platform 2 symmetrically reflects the beacon light, and the optical transceiver in the rotating platform 1 receives the beacon light symmetrically reflected by the prism and emits the beacon light symmetrically reflected by the prism to the position sensitive detector to form the optical path obtained through the rotation, as shown in FIG. 8A and FIG. 8B. By comparing the initial optical path and the optical path obtained through the rotation, the alignment angle α of the rotating platform 1 is shown in FIG. 8A and FIG. 8B. The alignment angle can be determined based on information about the position where the beacon light in the initial optical path reaches the position sensitive detector and information about the position where the beacon light in the optical path obtained through the rotation reaches the position sensitive detector. For a specific implementation, please refer to the description in the embodiment of FIG. 3. The details will not be described again here. It can be understood that the rotating platform 1 can perform the initial optical path alignment or the optical path alignment obtained through rotation using a beacon light symmetrically folded by a prism in the rotating platform 2.

[0119] In the implementation, the first optical path pointing device may further obtain an attitude angle between the first optical path pointing device and the second optical path pointing device, and adjust a first alignment angle of the first optical path pointing device based on the attitude angle. The adjusted first alignment angle satisfies a third pointing accuracy threshold. The third pointing accuracy threshold is greater than the first pointing accuracy threshold or the second pointing accuracy threshold.

[0120] In particular, the first optical path pointing device may use the imaging module and the sensor to obtain the attitude angle between the first optical path pointing device and the second optical pointing device, and send the attitude angle to the first adjustment module. The first adjustment module may adjust the first alignment angle of the first optical path pointing device according to the attitude angle, and the adjusted first alignment angle satisfies the third pointing accuracy threshold. For specific implementation, please refer to the related description of the imaging module and the sensor in the embodiment shown in Fig. 5c. The details will not be described again here.

[0121] In the implementation, after the first optical path pointing device adjusts the first alignment angle, the collimating mirror of the first optical path pointing device emits an optical signal to the second optical path pointing device to establish a communication link between the first optical path pointing device and the second optical path pointing device, and the communication link and the beacon optical path for transmitting the first beacon light are coupled to each other.

[0122] The first optical path pointing device further includes a collimating mirror. The first optical path pointing device utilizes the collimating mirror to emit an optical signal to the second optical path pointing device, so as to establish a communication link between the first optical path pointing device and the second optical path pointing device. For specific implementation, please refer to the relevant description of the collimating mirror in the embodiment shown in Fig. 5d. Details will not be described again here.

[0123] It can be understood that the first optical path pointing device in the embodiment of Figures 2-5d can perform the optical path pointing method shown in Figure 7. The first optical path pointing device can adjust the first alignment angle to perform the beacon optical path alignment between the first optical path pointing device and the second optical path pointing device by receiving the first beacon light reflected by the second prism in the second optical path pointing device to perform the communication link alignment. It should be noted that the second optical path pointing device can also perform the optical path pointing method shown in Figure 7 because the first optical path pointing device and the second optical path pointing device are mutually symmetrical devices (i.e., the components included are the same). That is, the second optical path pointing device can adjust the second alignment angle by receiving the second beacon light reflected by the first prism in the first optical path pointing device to perform communication link alignment, thereby performing beacon optical path alignment between the first optical path pointing device and the second optical path pointing device.

[0124] In an example, the first optical path pointing device or the second optical path pointing device in the above embodiments may be a device or a chip or a circuit disposed in a device. FIG. 9 is a schematic diagram of a structure of a first optical path pointing device according to an embodiment of this application. The first optical path pointing device may be a device (e.g., a chip) that performs the optical path pointing method in the embodiments of FIG. 7 and FIG. 8A and FIG. 8B. The first optical path pointing device may include a transceiver 501, at least one processor 502, and a memory 503. The transceiver 501, the processor 502, and the memory 503 may be connected to each other through one or more communication buses, or may be connected to each other in other manners.

[0125] The transceiver 501 may be configured to transmit data or receive data. It may be understood that the transceiver 501 is a general term and may include a receiver and a transmitter.

[0126] The processor 502 may be configured to process data of the first optical path pointing device. The processor 502 may include one or more processors. For example, the processor 502 may be one or more central processing units (CPUs), one or more network processors (NPs), one or more hardware chips, or any combination thereof. When the processor 502 is a CPU, the CPU may be a single-core CPU or a multi-core CPU.

[0127] The memory 503 is configured to store program code and the like. The memory 503 may include a volatile memory, such as a random access memory (RAM). The memory 503 may also include a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD). The memory 503 may also include a combination of the above types of memory.

[0128] The processor 502 and the memory 503 may be coupled via an interface or may be integrated together, which is not limited in this embodiment.

[0129] The transceiver 501 and the processor 502 may be configured to implement the optical path pointing method in the embodiments of Figures 7, 8A and 8B. A specific implementation is as follows: The transceiver 501 is configured to emit a first beacon light to a second optical path pointing device.

[0130] The transceiver 501 is further configured to receive the first beacon light reflected by a second prism in the second optical path pointing device.

[0131] The processor 502 is configured to adjust a first alignment angle of the first optical path pointing device based on information about a position at which the first beacon light reflected by the second prism reaches a first position sensitive detector in the first optical path pointing device, the adjusted first alignment angle satisfying a first pointing accuracy threshold.

[0132] In an implementation, the transceiver 501 is further configured to receive a second beacon light emitted by a second optical path pointing device.

[0133] The transceiver 501 is configured to reflect the second beacon light to a second optical path pointing device. Information about a position at which the second beacon light reflected by the first prism reaches a second position sensitive detector in the second optical path pointing device is utilized to adjust a second alignment angle of the second optical path pointing device. The adjusted second alignment angle satisfies a second pointing accuracy threshold.

[0134] In an implementation, the processor 502 is further configured to obtain an attitude angle between the first optical path pointing device and the second optical path pointing device, and adjust a first alignment angle of the first optical path pointing device based on the attitude angle. The adjusted first alignment angle satisfies a third pointing accuracy threshold. The third pointing accuracy threshold is greater than the first pointing accuracy threshold or the second pointing accuracy threshold.

[0135] In an implementation, the wavelength of the first beacon light is different from the wavelength of the second beacon light.

[0136] In the implementation, after the first optical path pointing device adjusts the first alignment angle, the transceiver 501 is further configured to emit an optical signal to the second optical path pointing device to establish a communication link between the first optical path pointing device and the second optical path pointing device. The communication link and the beacon optical path for transmitting the first beacon light are coupled to each other.

[0137] 10 is a schematic diagram of the structure of a second optical path pointing device according to an embodiment of this application. The second optical path pointing device may include a transceiver 601, at least one processor 602, and a memory 603. The transceiver 601, the processor 602, and the memory 603 may be connected to each other through one or more communication buses, or may be connected to each other in other manners.

[0138] The transceiver 601 may be configured to transmit data or receive data. It may be understood that the transceiver 601 is a general term and may include a receiver and a transmitter.

[0139] The processor 602 may be configured to process data of the second optical path pointing device. The processor 602 may include one or more processors. For example, the processor 602 may be one or more central processing units (CPUs), one or more network processors (NPs), one or more hardware chips, or any combination thereof. When the processor 602 is a CPU, the CPU may be a single-core CPU or a multi-core CPU.

[0140] The memory 603 is configured to store program code and the like. The memory 603 may include a volatile memory, such as a random access memory (RAM). The memory 603 may also include a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD). The memory 603 may also include a combination of the above types of memory.

[0141] The processor 602 and the memory 603 may be coupled via an interface or may be integrated together, which is not limited in this embodiment.

[0142] A specific implementation of the transceiver 601 and the processor 602 is as follows: The transceiver 601 is configured to emit a second beacon light to the first optical path pointing device.

[0143] The transceiver 601 is further configured to receive a second beacon light reflected by a first prism in the first optical path pointing device.

[0144] The processor 602 is configured to determine a second alignment angle of the second optical path pointing device based on information about a position at which the second beacon light reflected by the first prism reaches the second position sensitive detector, and adjust the second alignment angle such that the adjusted second alignment angle satisfies a second pointing accuracy threshold.

[0145] In an implementation, the transceiver 601 is further configured to receive a first beacon light emitted by the first optical path pointing device, and is further configured to emit the first beacon light to the second prism.

[0146] The transceiver 601 is further configured to reflect the first beacon light to the first optical path pointing device. Information about a position at which the first beacon light reflected by the second prism reaches a first position sensitive detector in the first optical path pointing device is utilized to adjust a first alignment angle of the first optical path pointing device. The adjusted first alignment angle satisfies a first pointing accuracy threshold.

[0147] In an implementation, the processor 602 is further configured to obtain an attitude angle between the second optical path pointing device and the first optical path pointing device, and adjust a second alignment angle of the second optical path pointing device based on the attitude angle. The adjusted second alignment angle satisfies a fourth pointing accuracy threshold. The fourth pointing accuracy threshold is greater than the first pointing accuracy threshold or the second pointing accuracy threshold.

[0148] In an implementation, the wavelength of the first beacon light is different from the wavelength of the second beacon light.

[0149] In the implementation, after the second optical path pointing device adjusts the second alignment angle, the transceiver 601 is further configured to emit an optical signal to the first optical path pointing device to establish a communication link between the second optical path pointing device and the first optical path pointing device. The communication link and the beacon optical path for transmitting the second beacon light are coupled to each other.

[0150] An embodiment of this application provides a computer-readable storage medium. The computer-readable storage medium stores a program or instruction. When the program or instruction is executed on a computer, the computer is enabled to execute the optical path pointing method in the embodiment of this application.

[0151] An embodiment of this application provides a chip or chip system, which includes at least one processor and an interface, the interface is interconnected with the at least one processor via a line, and the at least one processor is configured to execute a computer program or instruction to perform the optical path pointing method in the embodiment of this application.

[0152] The interface within the chip may be an input / output interface, a pin, or a circuit, etc.

[0153] The chip system in the above embodiment may be a system-on-a-chip (SOC), a baseband chip, etc. The baseband chip may include a processor, a channel encoder, a digital signal processor, a modem, and an interface module, etc.

[0154] In implementations, the chip or chip system described in this application further includes at least one memory for storing instructions, which may be a storage unit within the chip, such as a register or cache, or may be a storage unit of the chip (e.g., a read-only memory or a random access memory).

[0155] All or part of the above embodiments may be implemented using software, hardware, firmware, or any combination thereof. When software is used to implement the embodiments, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the procedures or functions according to the embodiments of this application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from a computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website, computer, server, or data center to another website, computer, server, or data center in a wired (e.g., coaxial cable, optical fiber, or digital subscriber line (DSL)) or wireless (e.g., infrared, radio wave, or microwave) manner. A computer-readable storage medium may be any available medium accessible by a computer, or a data storage device, such as a server or a data center that consolidates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, or magnetic tapes), optical media (e.g., high-density digital video discs (DVDs)), or semiconductor media (e.g., solid state disks (SSDs)).

[0156] Those skilled in the art may recognize that the units and algorithm steps in combination with the examples described in the embodiments disclosed in this specification may be implemented by electronic hardware, computer software, or a combination thereof. In order to clearly describe the compatibility between hardware and software, the above generally describes the configurations and steps of each example according to function. Whether a function is performed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may utilize different methods to implement the functions described for each specific application, but the implementation should not be considered as departing from the scope of this application.

[0157] The above description is merely a specific implementation of this application, and is not intended to limit the scope of protection of this application. Any variations or replacements that are immediately understood by those skilled in the art within the technical scope disclosed in this application should fall within the scope of protection of this application. Therefore, the scope of protection of this application should be subject to the scope of protection of the claims.

Claims

1. A first optical path pointing device including a first optical transceiver, a first position sensitive detector, and a first adjustment module, the first optical transceiver is configured to emit a first beacon light toward a second optical path pointing device; the first optical transceiver is further configured to receive the first beacon light reflected by a second prism in the second optical path pointing device; the first position sensitive detector is configured to determine a first alignment angle of the first optical path pointing device based on information about a position at which the first beacon light reflected by the second prism reaches the first position sensitive detector, and to transmit the first alignment angle to the first adjustment module; the first adjustment module is configured to adjust the first alignment angle, wherein the adjusted first alignment angle satisfies a first pointing accuracy threshold; the first optical path pointing device further comprises a first prism; the first optical transceiver is further configured to receive a second beacon light emitted by the second optical path pointing device and emit the second beacon light toward the first prism; the first prism is configured to reflect the second beacon light, and information about a position at which the second beacon light reflected by the first prism reaches a second position sensitive detector of the second optical path pointing device is utilized to adjust a second alignment angle of the second optical path pointing device, the adjusted second alignment angle satisfying a second pointing accuracy threshold. A first optical path pointing device.

2. A first optical path pointing device including a first optical transceiver, a first position sensitive detector, and a first adjustment module, the first optical transceiver is configured to emit a first beacon light toward a second optical path pointing device; the first optical transceiver is further configured to receive the first beacon light reflected by a second prism in the second optical path pointing device; the first position sensitive detector is configured to determine a first alignment angle of the first optical path pointing device based on information about a position at which the first beacon light reflected by the second prism reaches the first position sensitive detector, and to transmit the first alignment angle to the first adjustment module; the first adjustment module is configured to adjust the first alignment angle, wherein the adjusted first alignment angle satisfies a first pointing accuracy threshold; the first optical transceiver includes a beam splitter and a dichroic mirror; the dichroic mirror is configured to receive a second beacon light emitted by the second optical path pointing device; the dichroic mirror is further configured to emit the second beacon light toward the beam splitter; the beam splitter is configured to receive the second beacon light from the dichroic mirror; the beam splitter is further configured to emit the second beacon light toward a first prism of the first optical path pointing device. A first optical path pointing device.

3. the dichroic mirror is further configured to receive the first beacon light reflected by the second prism; the dichroic mirror is further configured to emit the first beacon light reflected by the second prism toward the beam splitter; the beam splitter is further configured to receive the first beacon light reflected by the second prism from the dichroic mirror; the beam splitter is further configured to direct the first beacon light reflected by the second prism toward the first position sensitive detector.

3. The first optical path pointing device of claim 2.

4. The first optical path pointing device further includes a first imaging module and a sensor; the first imaging module and the sensor are configured to obtain an attitude angle between the first optical path pointing device and the second optical path pointing device, and to send the attitude angle to the first adjustment module; the first adjustment module is further configured to receive the attitude angle and adjust the first alignment angle of the first optical path pointing device based on the attitude angle, where the adjusted first alignment angle satisfies a third pointing accuracy threshold, and the third pointing accuracy threshold is greater than the first pointing accuracy threshold. A first optical path pointing device according to any one of claims 1 to 3.

5. The wavelength of the first beacon light is different from the wavelength of the second beacon light. A first optical path pointing device according to any one of claims 1 to 3.

6. A first optical path pointing device including a first optical transceiver, a first position sensitive detector, and a first adjustment module, comprising: the first optical transceiver is configured to emit a first beacon light toward a second optical path pointing device; the first optical transceiver is further configured to receive the first beacon light reflected by a second prism in the second optical path pointing device; the first position sensitive detector is configured to determine a first alignment angle of the first optical path pointing device based on information about a position at which the first beacon light reflected by the second prism reaches the first position sensitive detector, and to transmit the first alignment angle to the first adjustment module; the first adjustment module is configured to adjust the first alignment angle, wherein the adjusted first alignment angle satisfies a first pointing accuracy threshold; the first optical path pointing device further includes a collimating mirror; the collimating mirror is configured to emit an optical signal toward the second optical path pointing device after the first optical path pointing device adjusts the first alignment angle, to establish a communication link between the first optical path pointing device and the second optical path pointing device, and the communication link and a beacon optical path for transmitting the first beacon light are coupled to each other. A first optical path pointing device.

7. 1. A method for optical path pointing, the method comprising: emitting a first beacon light by a first optical path pointing device towards a second optical path pointing device; receiving, by the first optical path pointing device, the first beacon light reflected by a second prism in the second optical path pointing device; adjusting, by the first optical path pointing device, a first alignment angle of the first optical path pointing device based on information about a position at which the first beacon light reflected by the second prism reaches a first position sensitive detector within the first optical path pointing device, wherein the adjusted first alignment angle satisfies a first pointing accuracy threshold; receiving, by the first optical path pointing device, a second beacon light emitted by the second optical path pointing device; reflecting the second beacon light by a first prism in the first optical path pointing device, where information about a position at which the second beacon light reflected by the first prism reaches a second position sensitive detector in the second optical path pointing device is utilized to adjust a second alignment angle of the second optical path pointing device, the adjusted second alignment angle satisfying a second pointing accuracy threshold; The optical path pointing method includes:

8. Prior to the step of adjusting, by the first optical path pointing device, a first alignment angle of the first optical path pointing device based on information about a position at which the first beacon light reflected by the second prism reaches a first position sensitive detector within the first optical path pointing device, the method further comprising: acquiring an attitude angle between the first optical path pointing device and the second optical path pointing device by the first optical path pointing device; adjusting, by the first optical path pointing device, the first alignment angle of the first optical path pointing device based on the attitude angle, wherein the adjusted first alignment angle satisfies a third pointing accuracy threshold, and the third pointing accuracy threshold is greater than the first pointing accuracy threshold; Further comprising: The method according to claim 7.

9. The wavelength of the first beacon light is different from the wavelength of the second beacon light. The method according to claim 7.

10. A method for optical path pointing, comprising: emitting a first beacon light by a first optical path pointing device towards a second optical path pointing device; receiving, by the first optical path pointing device, the first beacon light reflected by a second prism in the second optical path pointing device; adjusting, by the first optical path pointing device, a first alignment angle of the first optical path pointing device based on information about a position at which the first beacon light reflected by the second prism reaches a first position sensitive detector within the first optical path pointing device, wherein the adjusted first alignment angle satisfies a first pointing accuracy threshold; after the first optical path pointing device adjusts the first alignment angle, a collimating mirror in the first optical path pointing device emits an optical signal toward the second optical path pointing device to establish a communication link between the first optical path pointing device and the second optical path pointing device, and the communication link and a beacon optical path for transmitting the first beacon light are coupled to each other; A method comprising:

11. An optical path pointing system comprising the first optical path pointing device and the second optical path pointing device according to any one of claims 1 to 6.

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