CN110233665B - Radio frequency/laser cooperative rapid acquisition tracking alignment method - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/07—Arrangements for monitoring or testing transmission systems; Arrangements for fault measurement of transmission systems
- H04B10/075—Arrangements for monitoring or testing transmission systems; Arrangements for fault measurement of transmission systems using an in-service signal
- H04B10/079—Arrangements for monitoring or testing transmission systems; Arrangements for fault measurement of transmission systems using an in-service signal using measurements of the data signal
- H04B10/0793—Network aspects, e.g. central monitoring of transmission parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/07—Arrangements for monitoring or testing transmission systems; Arrangements for fault measurement of transmission systems
- H04B10/075—Arrangements for monitoring or testing transmission systems; Arrangements for fault measurement of transmission systems using an in-service signal
- H04B10/079—Arrangements for monitoring or testing transmission systems; Arrangements for fault measurement of transmission systems using an in-service signal using measurements of the data signal
- H04B10/0795—Performance monitoring; Measurement of transmission parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
Abstract
The invention discloses a radio frequency/laser cooperative rapid capturing, tracking and aligning method, and aims to provide a capturing, tracking and aligning method capable of rapidly capturing an aligning light beam in a long-distance full-airspace at a high probability. The invention is realized by the following technical method: in the radio frequency tracking stage, a beam pointing controller extracts an alignment error between a target pointing direction and a current actual pointing direction as a feedback quantity according to radio frequency omnidirectional beam and radio frequency directional beam detection information, quickly searches and captures a laser beam in a full airspace range by means of radio frequency beam assistance, and switches to laser tracking; in the laser tracking stage, the beam pointing controller respectively utilizes the beam information detected by the optical coarse view field and the optical fine view field to extract the alignment error between the target pointing direction and the current actual pointing direction as a feedback quantity, control the laser beam pointing direction, further reduce the beam alignment error in the range of the radio frequency tracking alignment error, and ensure the continuous and precise tracking alignment of the laser communication link.
Description
Technical Field
The invention relates to a light beam rapid capturing, tracking and aligning method suitable for wireless laser communication and laser/radio frequency integrated communication between high maneuvering platforms.
Background
In the wireless laser communication, laser is used as an information carrier, and free space or atmosphere is used as a transmission channel, so that the information transmission is realized. The main characteristics of the method include: 1. the communication bandwidth is high: the laser communication system mostly adopts a laser with an infrared band, the carrier frequency of the laser is hundreds of THz and is higher than that of radio frequency communication by several orders of magnitude, the carrier frequency is increased, the available transmission bandwidth is expanded, and the laser communication system can provide a data transmission rate which is higher than 10Gbps orders of magnitude and is far higher than that of the existing radio frequency communication by hundreds of Mbps. 2. The beam divergence angle is small: the shorter the carrier wavelength is, the higher the antenna gain is, the smaller the transmitting and receiving antenna aperture required for designing the same beam divergence angle is, so that the laser communication can ensure a very small beam divergence angle even under the condition that the aperture of the high maneuvering platform antenna is limited, and the required antenna aperture is in the centimeter magnitude. 3. The confidentiality and the anti-interference capability are strong: because the beam divergence angle is small, the laser beam energy is transmitted in a concentrated manner and is difficult to be interfered and intercepted, and the common radio frequency communication cannot reliably work in the electromagnetic interference environment, the laser communication has wide application prospect in the field of anti-interference broadband data links in complex electromagnetic environments.
Establishing a high-speed laser communication link between two motorized platforms requires first completing beam alignment with respect to each other. Due to the fact that the motion track of the high maneuvering platform is complex and the attitude changes rapidly, the laser beam is narrow, and meanwhile, the difficulty that optical signals are difficult to capture and detect is brought. Inaccurate beam alignment results in a large loss of optical signals at the receiving end and a severe degradation of communication performance, even link failure, which requires the laser communication terminal to adopt a fast, efficient and stable method to capture the beam for establishment of the laser link and recovery when the link is broken. Therefore, the rapid capturing, tracking and precise alignment of the light beam are key technologies which restrict the practicability of the high-speed laser communication of the mobile platform. The light beam capturing refers to a process that an optical detector finds a light beam emitted by a target terminal in a full airspace range; tracking refers to a process of resolving alignment angle errors according to received light beams and adjusting the light beam pointing in real time to reduce the alignment errors of the two parts; the alignment means that the light beam tracking gradually reduces the optical signal energy loss generated due to pointing errors until the precision alignment precision required by optical communication is met, and the normal transmission state of an optical link is guaranteed.
The fast capture of the light beam is the primary condition for establishing a laser communication link between mobile platforms, and the tracking alignment accuracy plays a decisive role in the performance of the optical communication. In the prior art, a light beam capturing, tracking and aligning method mainly scans a light beam with a large divergence angle, captures the light beam by matching with an optical detector with a large field angle, and then switches to an optical detector with a small field angle for tracking and aligning. The main drawbacks of this method are: the large divergence angle light beam transmission distance is limited, the capture can be realized only in a short distance, and the large divergence angle light beam can not be used for a long-distance maneuvering platform; secondly, an optical detector with a large view field needs to adopt image tracking before capturing a light beam, under the condition of complex background, image target extraction and view field size automatic adjustment are difficult, certain manual operation needs to be assisted, and full-automatic light beam rapid capturing cannot be realized; thirdly, in the application environment of the platform with high maneuverability and strong vibration, the narrow beam signal is easy to lose, and once the optical signal is lost, the optical detector in the prior art cannot rapidly recapture the laser link in a small range.
Disclosure of Invention
Considering that the radio frequency tracking is suitable for the rapid capture of the beam in a large range of a full airspace and the laser tracking is suitable for the precise alignment of the beam in a small range, the invention aims to provide a radio frequency/laser cooperative capture tracking alignment method which can rapidly capture an alignment beam in a long distance and a full airspace at a high probability.
The method for realizing the aim comprises the following steps: a radio frequency/laser cooperative rapid acquisition tracking alignment method has the following technical characteristics: in a radio frequency/laser cooperative rapid acquisition tracking alignment system, the acquisition tracking alignment is divided into radio frequency tracking and laser tracking; in the radio frequency tracking stage, a beam pointing controller extracts an alignment error between a target pointing direction and a current actual pointing direction as a feedback quantity according to radio frequency omnidirectional beam and radio frequency directional beam detection information respectively, controls the pointing directions of radio frequency directional beams and laser beams, quickly searches and captures the laser beams in a full airspace range by the aid of the radio frequency beams, and then switches to laser tracking; in the laser tracking stage, the beam pointing controller respectively utilizes the beam information detected by the optical coarse view field and the optical fine view field to extract the alignment error between the target pointing direction and the current actual pointing direction as a feedback quantity, control the laser beam pointing direction, further reduce the beam alignment error in the range of the radio frequency tracking alignment error, and ensure the continuous and precise tracking alignment of the laser communication link.
Compared with the prior art, the invention has the following beneficial effects.
Full-automatic high-efficiency capture: aiming at the defects that the capturing method adopting the light beam with the large divergence angle is not suitable for remote link alignment and has low capturing probability and sometimes needs manual assistance to search a target terminal, the invention combines the characteristics of large coverage range of the radio frequency beam and high detection sensitivity, and the invention can ensure the precise alignment of the beam by supporting the radio frequency tracking assistance of the remote full-automatic capturing and switching to the laser tracking to realize the rapid capturing and the precise tracking alignment of the narrow light beam signal in the full airspace range, effectively reduce the capturing alignment time, fully automatically and efficiently establish the remote laser link and improve the practicability of the system.
The scanning time is short: aiming at the problem that the capture time is limited by the scanning time of a light beam in an uncertain area, the uncertain area scanned by the light beam is compressed through the cooperation of radio frequency tracking and laser tracking, the light beam only needs to be scanned in a radio frequency tracking alignment error range, meanwhile, due to the fact that the scanning range is reduced, a micro-mechanical small-angle light beam scanning device with high scanning speed is adopted, scanning can be completed within 1-2 seconds, the existing mechanical light beam scanning usually needs dozens of seconds, and the scanning time is reduced by one order of magnitude.
The recapture probability is high: aiming at the defects that the motion track of a high maneuvering platform is difficult to predict, the posture is changed quickly, narrow beam signals are easy to lose, and the prior art is difficult to rapidly recapture a laser link in a small range, the invention utilizes the characteristic that the coverage area of a radio frequency beam is large, and the radio frequency tracking can be still kept when the laser link is lost, and can realize recapture with high probability in a short time only by scanning the beam in a small range, thereby improving the reliability of the laser link.
The equipment structure is simple: the invention is applied to a radio frequency/laser integrated transmission data chain, can fully utilize a radio frequency component and a laser component in equipment, and does not need to add redundant components or add redundant devices such as a large divergence angle light beam and a large view field optical detector which are irrelevant to long-distance optical communication compared with the prior art.
The invention is suitable for the rapid capturing, tracking and aligning of the light beams of wireless laser communication and laser/radio frequency integrated communication between high maneuvering platforms.
Drawings
FIG. 1 is a flow chart of the RF/laser cooperative fast acquisition tracking alignment mode of the present invention;
FIG. 2 is a schematic block diagram of beam pointing control;
FIG. 3 is a flow chart of the beam alignment state for five modes of operation of the present invention;
fig. 4 is an optical scanning trajectory diagram.
Detailed Description
See fig. 1. According to the invention, in the radio frequency/laser cooperative rapid acquisition tracking alignment system, the acquisition tracking alignment is divided into radio frequency tracking and laser tracking; in the radio frequency tracking stage, a beam pointing controller extracts an alignment error between a target pointing direction and a current actual pointing direction as a feedback quantity according to radio frequency omnidirectional beam and radio frequency directional beam detection information respectively, controls the pointing directions of radio frequency directional beams and laser beams, quickly searches and captures the laser beams in a full airspace range by the aid of the radio frequency beams, and then switches to laser tracking; in the laser tracking stage, the beam pointing controller respectively utilizes the beam information detected by the optical coarse view field and the optical fine view field to extract the alignment error between the target pointing direction and the current actual pointing direction as a feedback quantity, control the laser beam pointing direction, further reduce the beam alignment error in the range of the radio frequency tracking alignment error, and ensure the continuous and precise tracking alignment of the laser communication link. The laser tracking system comprises a laser communication link, a radio frequency tracking module, a laser tracking module, a micro-arc degree-of-order precise alignment module and a micro-arc degree-of-order precise alignment module, wherein the radio frequency tracking module comprises two working modes of program tracking and signal tracking, the laser tracking module comprises three working modes of optical scanning, optical rough tracking and optical precise tracking, and the five working modes compress light beam alignment errors step by step from a full airspace to finally realize the micro-arc degree-of-order precise alignment of light beams and ensure the normal transmission of the laser communication link.
Program tracking mode: the beam pointing controller utilizes the position and attitude data of the omnidirectional beam interaction two parties to extract the alignment error information as feedback, controls the pointing of the radio frequency directional beam and the laser beam from the full airspace range, reduces the alignment error until the radio frequency directional antenna detects a signal, and switches into a signal tracking mode.
Signal tracking mode: the beam pointing controller carries out sum and difference angle measurement on the received radio frequency directional beam signals, extracts alignment error information as feedback and controls beam pointing. If the signal is lost and the radio frequency directional antenna does not detect the signal, returning to the program tracking mode; otherwise, the signal tracking mode is continuously operated, the alignment error is reduced until the optical rough field covers the target terminal, namely, the scanning range is entered, and the optical scanning mode is switched to.
Optical scanning mode: the beam pointing controller controls the pointing of the light beam according to the scanning angle output by the light beam scanning angle calculation program, and continuously scans in the scanning range until the scanning light beam enters the optical coarse viewing field, so that the light beam is captured, and the optical coarse tracking mode is switched.
Optical coarse tracking mode: the beam pointing controller extracts the light beam alignment error information as feedback by using the light spot coordinates captured by the optical coarse field detector, and controls the light beam pointing. If the optical signal is lost and the optical signal is not detected in the optical coarse view field, returning to the signal tracking mode; otherwise, continuously operating the optical coarse tracking mode, reducing the alignment error until the light beam enters the optical fine viewing field, and switching to the optical fine tracking mode.
Optical fine tracking mode: the beam pointing controller utilizes high-precision light spot coordinates measured by the high-frame-frequency optical fine view field detector to extract light beam alignment error information as feedback to control light beam precision pointing, and further inhibits high-frequency small-angle light beam vibration which cannot be compensated by optical coarse tracking. If the optical signal is lost and the optical fine view field does not detect the optical signal, returning to the optical coarse tracking mode; otherwise, the optical fine tracking mode is continuously operated, and the precise alignment of the laser communication link is guaranteed.
See fig. 2. The beam pointing controller typically includes a position controller that extracts a target pointing direction y and a velocity controllerdCalculating an inertial space control command u according to a position control algorithm by using an alignment error e between the current actual pointing direction y and the current actual pointing direction y; the speed controller operates a speed control algorithm to calculate a speed driving instruction v according to an inertial space control instruction u input by the position controller, platform disturbance w fed back by the gyroscope and self rotating speed s fed back by speed measurement of the actuating mechanism, and drives the actuating mechanism to adjust the pointing directions of the radio frequency directional beam and the laser beam.
In different RF/laser tracking modes, the beam pointing controller outputs control quantities to different beam pointing actuators. In the working modes of program tracking, signal tracking and optical coarse tracking, the light beam pointing actuating mechanism is a servo turntable; in the optical scanning working mode, the light beam pointing actuator is a micro-mechanical scanning mirror; in the optical fine tracking working mode, the light beam pointing actuator is a high-speed high-precision galvanometer.
PID control is selected as a position control algorithm and a speed control algorithm, and the built-in program software adjusts the proportional parameter P, the integral parameter I and the differential parameter D through a control program, so that the control precision is improved.
See fig. 3. (a) Program tracking mode: when the alignment error e is smallAt the radio frequency directional beam acceptance range theta1And when the beam pointing controller detects the directional beam signal, the signal tracking mode is switched to. (b) Signal tracking mode: when the alignment error e is smaller than the optical coarse field of view theta2And at the moment, the optical rough field covers the target terminal, enters a scanning range and is switched into an optical scanning mode. (c) Optical scanning mode: the beam pointing controller utilizes a beam scanning angle calculation program to scan beams, and when the beams enter the optical coarse view field detector, the optical coarse tracking mode is switched to after the beams are captured; (d) optical coarse tracking mode: when the alignment error e is smaller than the optical fine view field theta3And at the moment, the light beam enters the optical fine view field detector and then is transferred to optical fine tracking. (e) Optical fine tracking mode: when the alignment error e is smaller than the beam divergence angle theta, the beam alignment accuracy reaches the micro radian level, and the beam alignment accuracy can be coupled into an optical communication detector to establish a laser communication transmission link.
See fig. 4. The beam scan angle calculation program calculates the beam scan angle based on the scan beam divergence angle theta and the optical coarse field of view theta2And the beam overlap factor η, the scan angle is calculated and the output scan angle is expressed as azimuth Az and elevation angle El. Eta ranges from 0 to 1, the larger the value is, the more the beams are overlapped, the higher the capture probability is, but the more the number of beams required for one scanning is.
Step 1, the beam scan angle calculation program calculates the required number of helical scan cycles N to ceil { θ }2/[(1-η)θ]Fourthly, turning to the step 2;
step 2, making the scanning cycle counter n equal to 1, the polar angle phi of the scanning angle polar coordinate equal to 0, the polar diameter rho equal to 0, the azimuth angle Az equal to 0, and the pitch angle El equal to 0, and going to step 3;
step 3, calculating the beam number M (2 pi n) required by the nth cycle spiral, and turning to step 4;
step 4, making the beam counter M equal to 1, the polar angle increment d phi equal to 2 pi/M, the polar diameter increment d rho equal to (1-eta) theta/M, and turning to step 5;
step 5, updating a scanning angle, wherein phi is phi + d phi, rho is rho + d rho, a scanning azimuth angle Az is rho cos phi, a pitch angle El is rho sin phi, and turning to step 6;
step 6, judging whether the beam counter M reaches M, if M is less than M, making M equal to M +1, and turning to step 5, otherwise, making M equal to M, and turning to step 7;
and 7, judging whether the scanning cycle counter N reaches N, if N is less than N, enabling N to be N +1, and turning to the step 3, otherwise, enabling N to be N, ending the optical scanning, and enabling the light beam distribution track in the whole scanning process to be as shown in fig. 4.
The present invention has been described in detail with reference to the drawings, but it should be understood that the above-described embodiments are merely preferred examples of the present invention, and not restrictive, and various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
1. A radio frequency/laser cooperative rapid acquisition tracking alignment method has the following technical characteristics: in a radio frequency/laser cooperative rapid acquisition tracking alignment system, the acquisition tracking alignment is divided into radio frequency tracking and laser tracking; the laser tracking system comprises a laser communication link, a radio frequency tracking module, a laser tracking module, a micro-arc degree-order precise alignment module and a micro-arc degree-order precise alignment module, wherein the radio frequency tracking module is divided into two working modes of program tracking and signal tracking, the laser tracking module is divided into three working modes of optical scanning, optical rough tracking and optical precise tracking, and the five working modes compress light beam alignment errors step by step from a full airspace to realize the micro-arc degree-order precise alignment of light beams and ensure the normal transmission of the laser communication link; in the program tracking mode, the beam pointing controller utilizes the position and attitude data of the omnidirectional beams to interact with both sides, extracts alignment error information as feedback, controls the pointing of the radio frequency directional beam and the laser beam from the full airspace range, reduces the alignment error until the radio frequency directional antenna detects a signal, and switches into the signal tracking mode; in a signal tracking mode, a beam pointing controller carries out sum and difference angle measurement on a received radio frequency directional beam signal, extracts alignment error information as feedback, controls beam pointing, returns to a program tracking mode if the signal is lost and a radio frequency directional antenna does not detect the signal, otherwise continuously operates the signal tracking mode, reduces the alignment error until an optical rough view field covers a target terminal, namely enters a scanning range, and shifts to an optical scanning mode; in the optical scanning mode, the beam pointing controller calculates a scanning angle output by a program according to the scanning angle of the light beam, controls the pointing of the light beam, continuously scans in a scanning range until the scanning light beam enters an optical coarse view field, realizes light beam capture, and shifts to an optical coarse tracking mode; after entering an optical coarse tracking mode, a beam pointing controller extracts light beam alignment error information as feedback by using light spot coordinates captured by an optical coarse field detector, controls the light beam pointing, returns to the signal tracking mode if an optical signal is lost and the optical coarse field does not detect the optical signal, otherwise, continuously operates the optical coarse tracking mode, reduces the alignment error until the light beam enters an optical fine field, and switches to the optical fine tracking mode; in the optical fine tracking mode, a beam pointing controller utilizes high-precision spot coordinates measured by a high-frame-frequency optical fine view field detector to extract beam alignment error information as feedback to control the precise pointing of a beam, further inhibit the high-frequency small-angle beam vibration which cannot be compensated by the optical coarse tracking, if the optical signal is lost and the optical fine view field does not detect the optical signal, the optical coarse tracking mode is returned, otherwise, the optical fine tracking mode is continuously operated to ensure the precise alignment of a laser communication link; in the radio frequency tracking stage, a beam pointing controller extracts an alignment error between a target pointing direction and a current actual pointing direction as a feedback quantity according to radio frequency omnidirectional beam and radio frequency directional beam detection information, controls the pointing directions of radio frequency directional beams and laser beams, quickly searches and captures the laser beams in a full airspace range through the assistance of the radio frequency beams, and then switches to laser tracking; in the laser tracking stage, the beam pointing controller respectively utilizes the beam information detected by the optical coarse view field and the optical fine view field to extract the alignment error between the target pointing direction and the current actual pointing direction as a feedback quantity, control the laser beam pointing direction, further reduce the beam alignment error in the range of the radio frequency tracking alignment error, and ensure the continuous and precise tracking alignment of the laser communication link.
2. The radio frequency/laser cooperative rapid acquisition tracking alignment method according to claim 1, wherein: the beam pointing controller includes a position controller and a velocity controller, the position controller extracting a target pointing directiony d Pointing to the current realityyAlignment error betweeneCalculating inertial space control commands according to a position control algorithmu(ii) a The speed controller controls the command according to the inertia space input by the position controlleru，And platform perturbation of gyro feedbackwSelf rotating speed fed back by speed measurement of actuating mechanismsRunning a speed control algorithm to calculate a speed drive commandvAnd driving an actuating mechanism to adjust the pointing directions of the radio frequency directional beam and the laser beam.
3. The radio frequency/laser cooperative rapid acquisition tracking alignment method according to claim 1, wherein: under different radio frequency/laser tracking working modes, the beam pointing controller outputs control quantity to different beam pointing actuating mechanisms; in the working modes of program tracking, signal tracking and optical coarse tracking, the light beam pointing actuating mechanism is a servo turntable; in the optical scanning working mode, the light beam pointing actuator is a micro-mechanical scanning mirror; in the optical fine tracking working mode, the light beam pointing actuator is a high-speed high-precision galvanometer.
4. The rf/laser cooperative fast acquisition tracking alignment method according to claim 2, wherein: PID control is selected as a position control algorithm and a speed control algorithm, and the built-in program software adjusts the proportional parameter P, the integral parameter I and the differential parameter D through a control program, so that the control precision is improved.
5. The radio frequency/laser cooperative rapid acquisition tracking alignment method according to claim 3, wherein: program tracking alignment error of position control algorithmeLess than the acceptance range of the radio frequency directional beamθ 1The beam pointing controller detects a directional beam signal and switches to a signal tracking mode; tracking alignment error when signaleLess than the optical coarse field of viewθ 2At the moment, the optical rough field covers the target terminal, enters a scanning range and is switched into an optical scanning mode; the beam pointing controller scans the light beam by utilizing a light beam scanning angle calculation program, and when the scanned light beam enters the optical coarse view field detector, the light beam is captured and then is converted into lightLearning a rough tracking mode; when the optical coarse tracking alignment erroreSmaller than the optical fine field of viewθ 3At the moment, the light beam enters an optical fine view field detector and then enters optical fine tracking; when the optical fine tracking alignment erroreLess than the beam divergence angleθAnd at the moment, the light beam alignment precision reaches the micro radian level, and the light beam is coupled into the optical communication detector to establish a laser communication transmission link.
6. The radio frequency/laser cooperative rapid acquisition tracking alignment method according to claim 1, wherein: beam scan angle calculation program based on scan beam divergence angleθOptical field of viewθ 2And beam overlap factorηCalculating the scan angle, and outputting the scan angle as azimuth angleAzAnd a pitch angleEl。
7. The radio frequency/laser cooperative rapid acquisition tracking alignment method according to claim 1, wherein: the beam scan angle calculation program calculates the required number of helical scan cycles asN=ceil{θ 2/[(1-η)θ]Let the scanning cycle countern=1, scanning angle polar coordinate polar angleφ=0, pole diameterρ=0, azimuth angleAzAngle of pitch =0El=0, calculatingnNumber of beams required for the circumhelixM=ceil(2πn) Then, make the beam counterm=1, polar angle incrementdφ=2π/MIncrement of pole diameterdρ=(1-η)θ/MUpdate the firstmAngle of beam sweepφ=φ+dφ，ρ=ρ+dρObtaining the scanning azimuthAz=ρcosφAngle of pitchEl=ρsinφ(ii) a Then judging the beam countermWhether or not to reachMIf, ifm<MLet us orderm=m+1, continue updating the secondm+1 beam sweep angle, otherwisem>=MCounter for judging scanning cycle numbernWhether or not to reachNIf, ifn<NLet us ordern=n+1, continue the first stepn+1 week helical scan, otherwisen>=NAnd the scanning is finished.
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| CN105356943A (en) * | 2015-09-29 | 2016-02-24 | 西安空间无线电技术研究所 | Laser communication capturing and tracking system and method thereof |
| CN108828511A (en) * | 2018-06-20 | 2018-11-16 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | The Target Searching Method of full airspace multi-beam collaboration |
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