CN113381818A - Spiral scanning method for terahertz wave beam alignment - Google Patents
Spiral scanning method for terahertz wave beam alignment Download PDFInfo
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- 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
- H04B10/90—Non-optical transmission systems, e.g. transmission systems employing non-photonic corpuscular radiation
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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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Abstract
The invention discloses a spiral scanning method for terahertz wave beam alignment, which comprises the steps of firstly estimating an area with larger terahertz signal intensity distribution, arranging a starting point in the area, enabling a receiver to conduct rough scanning on the starting point in a spiral outward mode until the power of a received terahertz signal is larger than a certain threshold value, then continuously increasing spiral scanning precision, enabling the receiver to obtain a considerable power value after the rough scanning is finished, and seeking a maximum power point meeting the precision by adopting an optimized hill climbing method in a fine scanning stage. The method uses the spiral scanning algorithm with low time cost, judges the maximum power point of the terahertz signal through the optimization algorithm, reduces unnecessary scanning paths, is simple and convenient to realize, has low cost, and can ensure the scanning quality proved by natural light irradiation experiments.
Description
Technical Field
The invention relates to the field of electronics and information, in particular to a spiral scanning method for terahertz wave beam alignment.
Background
The terahertz technology is a key breakthrough of ultra-high-speed wireless communication, signals of the terahertz technology have the natural advantages of high frequency, short pulse, strong penetrability, small damage to substances and human bodies and the like, and can well meet the requirement of 6G communication, so that a very attractive opportunity can be provided for technical innovation, national economic development and national safety, and the revolutionary development of scientific technology can be triggered.
Currently, the research of terahertz technology has been highly focused, and people hope to perform high-speed wireless communication transmission by using terahertz as a carrier signal so as to achieve the long-distance communication rate of 10Gb per second standard, but in the current research, the goal is not achieved. One of several research directions in which researchers and organizations at home and abroad pay attention to is a signal detection and receiving technology, which has practical influence significance on the development of terahertz technology. However, the beam width of the terahertz wave is very narrow, so that the terahertz antenna is difficult to align in the installation process, and for a medium-distance and long-distance terahertz access system, when the direction of the antenna of the terahertz transmitter is aligned, the received power information needs to be sent to the transmitter side, and the attitude of the transmitting and receiving antenna needs to be calibrated. This process takes a long time and conventional manual adjustment requires an operator with calibration experience. Therefore, a relatively complete scanning scheme is still lacked at present for the maximum power reception of terahertz signals.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a spiral scanning method for terahertz beam alignment.
The purpose of the invention is realized by the following technical scheme: a helical scanning method for terahertz beam alignment, comprising the steps of: a helical scanning method for terahertz beam alignment, comprising the steps of:
(1) selecting one point in a scanning area as the starting point of the first spiral coarse scanning;
(2) setting the length of a first spiral coarse scanning step length, adopting a scanning algorithm with a scanning track in an external spiral form, starting from a starting point, gradually and spirally scanning outwards according to the length of the first spiral coarse scanning step length, collecting a terahertz wave beam power value, and finishing the first spiral coarse scanning when the terahertz wave beam power value meets a terahertz wave beam power threshold value;
(3) and taking the end point of the first helical rough scanning as the starting point of the second helical rough scanning, reducing the scanning step length, starting the second helical rough scanning, and taking the scanning reaching the boundary position of the scanning area or the scanning reaching the preset number of helical layers as the scanning ending condition. After the scanning is confirmed to meet the end condition, the position coordinate of the maximum terahertz wave beam power in the second spiral coarse scanning is taken out and returned to the position coordinate;
(4) gradually reducing the scanning step length, repeating the step (3), continuously reducing the spiral pitch, gradually improving the precision, starting to perform outward spiral scanning again from the maximum receiving power position recorded in the step (3) in a spiral mode, wherein the adopted spiral scanning frequency depends on the required coarse scanning precision until the requirement of the coarse scanning precision is met; and (3) returning to the point of the maximum terahertz beam power after the second spiral coarse scanning is finished, detecting the terahertz beam power value of the point, comparing the terahertz beam power at the moment with the maximum terahertz beam power value which is obtained by final alignment obtained by theoretical calculation or preliminary experiment in order to obtain a considerable terahertz beam power value when entering a fine scanning stage, and if the ratio is not less than 0.8, gradually reducing the scanning step length, and repeating the step (3) until the ratio is more than 0.8, so that the spiral coarse scanning can be finished.
(5) Starting from the current maximum received power position, setting a scanning step length and a unit distance, further scanning and detecting the power value of a position near the maximum power point by adopting an optimized hill climbing method, recording the maximum power and a corresponding position coordinate, setting a detection condition by utilizing an annealing algorithm, and obtaining the maximum terahertz wave beam power value and position after the detection condition is met;
further, the step (1) is specifically:
determining the range of the maximum terahertz wave beam power point which is possibly generated at the terahertz wave beam receiving end, taking the range as a scanning area of the terahertz wave beam receiving end, uniformly and randomly taking points in the scanning area to measure the received terahertz power, comparing to obtain the maximum received power point, temporarily setting the maximum received power point as the maximum terahertz wave beam received power point, and taking the point as a scanning starting point. Otherwise, taking the middle point of the scanning area as the scanning starting point; the terahertz wave beam range is calculated in advance according to the terahertz frequency band and the size of the terahertz antenna and multiplied by a scanning expansion coefficient, the scanning expansion coefficient is larger than 1, and specific numerical values are defined and determined by a user.
Further, the step (2) includes the sub-steps of:
(2.1) setting the length of the first helical coarse scanning step 1;
the maximum terahertz wave beam power which can be detected by the terahertz wave beam receiving end and the attenuation rule of the terahertz wave beam power from the central point to the outside are derived through theoretical calculation or measured through a pre-experiment.
The pre-test determination specifically comprises: namely, manual alignment is firstly carried out by a manual alignment method, and the maximum power which can be received by the terahertz signal receiving end can be preliminarily obtained. The position of the receiver is manually adjusted, and the power distribution condition of the terahertz signal receiving end can be preliminarily obtained.
The theoretical calculation is specifically as follows: the attenuation law of terahertz beam power is calculated as Pr ═ Pt + Gt-L + Gr, where the free space loss L (db) ═ 20lgF +20lgD +32.4, F is frequency (MHz), D is distance (km), Pt is transmission power, Gt is antenna gain, and Gr is reception antenna power.
Setting a terahertz wave beam power threshold value required to be detected after the first spiral coarse scanning is finished according to a terahertz wave beam power index, wherein the terahertz wave beam power threshold value is generally between 15% and 30% of the maximum receiving power of a terahertz wave beam;
(2.2) starting a first helical rough scan by adopting a scanning algorithm of which the scanning track is in the form of an external helix: the terahertz receiving end performs fixed point rotation movement at a starting point to collect the power of the received terahertz wave beam, then moves the length of a first spiral coarse scanning step1 horizontally and rightwards, and the terahertz receiving end performs fixed point rotation movement and terahertz wave beam power collection every time the length of the first spiral coarse scanning step1 is moved;
and (2.3) moving in an external spiral form from the starting point, and circulating the step (2.2) to obtain the end point of the first spiral coarse scanning when the power of the collected terahertz wave beam is greater than the set terahertz wave beam power threshold. The first helical coarse scan is ended.
Further, the step (3) includes the sub-steps of:
(3.1) setting the length of the second helical coarse scanning step2
Taking the end point of the first spiral scanning as a center, selecting the step length of the second spiral rough scanning according to the precision requirement and the time requirement, controlling the step length 2 of the second spiral rough scanning to be smaller than the step length 1 of the first spiral rough scanning;
(3.2) starting a second helical coarse scan:
and taking the end point of the first spiral rough scanning as the starting point of the second spiral rough scanning, and starting the second spiral rough scanning by adopting a scanning algorithm with a scanning track in an external spiral form. And ending the scanning when the scanning reaches the boundary position or the scanning reaches the preset spiral layer number. The boundary condition is higher than the priority of reaching the preset spiral layer number condition, and the boundary condition is the boundary of the scanning area. In the second helical rough scanning, a terahertz wave beam power threshold value condition is not set any more, but the number of helical layers is preset, and the number of helical layers is determined by the scanning area and can cover the whole scanning area;
and (3.3) measuring the maximum terahertz wave beam power point in the second spiral coarse scanning area to obtain a termination point of the second spiral coarse scanning, and finishing the second spiral coarse scanning.
After the second helical scanning, the terahertz wave beam receiving end returns to the measured maximum power point, and the point is the point with the maximum power in all the points for receiving power acquisition, and the second helical coarse scanning stage is finished;
further, the optimized hill-climbing scanning in the step (5) specifically includes the following sub-steps:
(5.1) respectively performing fixed point rotation movement at four points which are away from the current position point by unit distances up, down, left and right, collecting terahertz wave beam power of each point, and returning to the point which receives the terahertz wave beam power and has the maximum power in the four points after scanning;
(5.2) continuously scanning until the point scanned in the fine scanning stage is reached, stopping scanning, comparing the maximum terahertz beam power values of the two points reached by the terahertz beam receiving end at last, taking the point with the larger terahertz beam power value as a final confirmation point, and recording the final position of the terahertz beam receiving end and the terahertz beam power value of the point;
and (5.3) setting a detection condition by using an annealing algorithm, and eliminating the possibility that the final position of the terahertz beam receiving end and the final terahertz beam power value are local maximum values. And setting the number of test points, and finding that the terahertz wave beam power value of each test point is smaller than the maximum terahertz wave beam power, so that the maximum terahertz wave beam power value and the power position can be obtained, and the terahertz wave beam alignment is completed. The terahertz signal maximum power point detection method has the advantages that the spiral scanning algorithm with low time cost is used, the maximum power point of the terahertz signal is judged through the optimization algorithm, unnecessary scanning paths are reduced, the realization method is simple and convenient, the cost is low, and the scanning quality can be ensured through verification of a natural light irradiation experiment.
Drawings
FIG. 1 is a flow chart of a double helical coarse scan and a fine scan;
fig. 2 is a scanning trajectory diagram of the double spiral coarse scanning and the fine scanning.
Detailed Description
The objects and effects of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings.
Fig. 1 shows a flowchart of a helical scanning method for terahertz beam alignment according to the present invention, which includes the following steps:
(1) selecting one point in a scanning area as the starting point of the first spiral coarse scanning;
determining the range of the maximum terahertz wave beam power point which is possibly generated at the terahertz wave beam receiving end, taking the range as a scanning area of the terahertz wave beam receiving end, uniformly and randomly taking points in the scanning area to measure the received terahertz power, comparing to obtain the maximum received power point, temporarily setting the maximum received power point as the maximum terahertz wave beam received power point, and taking the point as a scanning starting point. Otherwise, taking the middle point of the scanning area as the scanning starting point; the terahertz wave beam range is calculated in advance according to the terahertz frequency band and the size of the terahertz antenna and multiplied by a scanning expansion coefficient, the scanning expansion coefficient is larger than 1, and specific numerical values are defined and determined by a user.
(2) Setting the length of a first spiral coarse scanning step length, adopting a scanning algorithm with a scanning track in an external spiral form, starting from a starting point, gradually and spirally scanning outwards according to the length of the first spiral coarse scanning step length, collecting a terahertz wave beam power value, and finishing the first spiral coarse scanning when the terahertz wave beam power value meets a terahertz wave beam power threshold value; the method specifically comprises the following substeps:
(2.1) setting the length of the first helical coarse scanning step 1;
the maximum terahertz wave beam power which can be detected by the terahertz wave beam receiving end and the attenuation rule of the terahertz wave beam power from the central point to the outside are derived through theoretical calculation or determined through pre-experiments (the measured power of more than 30W is concentrated in a circle with the radius of 3.8 cm).
The pre-test determination specifically comprises: namely, manual alignment is firstly carried out by a manual alignment method, and the maximum power which can be received by the terahertz signal receiving end can be preliminarily obtained. The position of the receiver is manually adjusted, and the power distribution condition of the terahertz signal receiving end can be preliminarily obtained.
The theoretical calculation is specifically as follows: the attenuation law of terahertz beam power is calculated as Pr ═ Pt + Gt-L + Gr, where the free space loss L (db) ═ 20lgF +20lgD +32.4, F is frequency (MHz), D is distance (km), Pt is transmission power, Gt is antenna gain, and Gr is reception antenna power.
Setting a terahertz beam power threshold (a terahertz beam power index for ending the first spiral scanning) required to be detected for ending the first spiral coarse scanning according to the terahertz beam power index, wherein the terahertz beam power threshold is generally between 15% and 30% of the maximum receiving power of the terahertz beam, is set to be 30W in the embodiment, and the step1 is set to be 5.2 cm;
(2.2) starting a first helical rough scan by adopting a scanning algorithm of which the scanning track is in the form of an external helix: the terahertz receiving end performs fixed point rotation movement at a starting point to collect the power of the received terahertz wave beam, then moves the length of a first spiral coarse scanning step1 horizontally and rightwards, and the terahertz receiving end performs fixed point rotation movement and terahertz wave beam power collection every time the length of the first spiral coarse scanning step1 is moved;
and (2.3) moving in an external spiral form from the starting point, and circulating the step (2.2) as shown in fig. 2 to obtain the end point of the first spiral coarse scanning when the power of the collected terahertz wave beam is greater than the set terahertz wave beam power threshold value (30W). The first helical coarse scan is ended.
(3) And taking the end point of the first spiral rough scanning as the starting point of the second spiral rough scanning, adjusting the scanning step length to start the second spiral rough scanning, and taking the scanning reaching the boundary position of the scanning area or the scanning reaching the preset spiral layer number as the scanning ending condition. After the scanning is confirmed to meet the end condition, the position coordinate of the maximum terahertz wave beam power in the second spiral coarse scanning is taken out and returned to the position coordinate; the method specifically comprises the following substeps:
(3.1) setting the length of the second spiral coarse scanning step 2;
taking the end point of the first helical scanning as the center, selecting the step length of the second helical rough scanning according to the precision requirement and the time requirement, controlling the step length required by the larger precision and the step length, and controlling the step length step2 of the second helical rough scanning to be smaller than the step length step1 of the first helical rough scanning, wherein the step length of the second helical rough scanning is set to be that step2 is 2.1cm, and starting the second helical scanning;
(3.2) starting a second helical coarse scan:
and taking the end point of the first spiral rough scanning as the starting point of the second spiral rough scanning, and starting the second spiral rough scanning by adopting a scanning algorithm with a scanning track in an external spiral form. And ending the scanning when the scanning reaches the boundary position or the scanning reaches the preset spiral layer number. The boundary condition is higher in priority than the preset spiral layer number, the boundary condition is a scanning area, and the machine is prevented from exceeding the area defined in the first step to cause damage to the equipment. In the second helical rough scanning, the terahertz wave beam power threshold condition is not set any more, but the number of helical layers is preset, the number of helical layers is determined by the scanning area, and the whole scanning area can be covered. In this embodiment, a 5-layer spiral is provided;
and (3.3) measuring the maximum terahertz wave beam power point in the second spiral coarse scanning area to obtain a termination point of the second spiral coarse scanning, and finishing the second spiral coarse scanning.
And returning the terahertz wave beam receiving end to the measured maximum terahertz wave beam power point after the second spiral coarse scanning, wherein the point is the point with the maximum terahertz wave beam power in all the points for receiving power acquisition, and ending the second spiral coarse scanning stage.
(4) Gradually reducing the scanning step length, repeating the step (3), continuously reducing the spiral pitch, gradually improving the precision, starting to perform spiral scanning outwards again from the maximum terahertz beam power position recorded in the step (3) in a spiral mode, wherein the adopted spiral scanning frequency depends on the required coarse scanning precision until the requirement of the coarse scanning precision is met;
and (3) returning to the point of the maximum terahertz beam power after the second spiral coarse scanning is finished, detecting the terahertz beam power value of the point, comparing the terahertz beam power at the moment with the maximum terahertz beam power value which is obtained by final alignment obtained by theoretical calculation or preliminary experiment in order to obtain a considerable terahertz beam power value when entering a fine scanning stage, and if the ratio is not less than 0.8, gradually reducing the scanning step length, and repeating the step (3) until the ratio is more than 0.8, so that the spiral coarse scanning can be finished.
(5) Performing fine scanning: starting from the current maximum terahertz beam power position, setting a scanning step length and a unit distance which meet the precision requirement, further scanning and detecting the terahertz beam power value of a position near a maximum terahertz beam power point by adopting an optimized hill climbing method, recording the maximum terahertz beam power and a corresponding position coordinate, setting a detection condition by using an annealing algorithm, and obtaining the maximum terahertz beam power value and a power position after the detection condition is met;
the optimized hill climbing method scanning specifically comprises the following steps:
(5.1) setting the unit distance to be 0.2cm, respectively carrying out fixed point rotation motion at four points which are away from the current position point by unit distances up, down, left and right, collecting the terahertz wave beam power of each point, and returning to the point which receives the terahertz wave beam power and is the maximum among the four points after scanning is finished;
(5.2) continuously scanning until the point scanned in the fine scanning stage is reached, stopping scanning, comparing the maximum terahertz beam power values of the two points reached by the terahertz beam receiving end at last, taking the point with the larger terahertz beam power value as a final confirmation point, and recording the final position of the terahertz beam receiving end and the terahertz beam power value of the point;
and (5.3) setting a detection condition by using an annealing algorithm, and eliminating the possibility that the final position of the terahertz beam receiving end and the final terahertz beam power value are local maximum values. And setting the number of test points, and finding that the terahertz wave beam power value of each test point is smaller than the maximum terahertz wave beam power, so that the maximum terahertz wave beam power value and the power position can be obtained, and the terahertz wave beam alignment is completed.
The scan trajectory is in the form of an outer spiral, including but not limited to an expansion in the form of a rectangular spiral and an archimedean spiral. When the Archimedes spiral expansion is used, the step of setting the scanning step length is specifically as follows: the scanning area is determined by the size of the area capable of receiving the power of the terahertz beam. If the half-power beam width of the signal main lobe of the terahertz signal receiving end is assumed to be 2b, the fact that the signals of the receiving end are concentrated in a circular domain with the diameter r can be calculated, and the spiral pitch can be set to be 0.2r-0.3r according to different thresholds.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. For example, the external spiral form described herein may be in the form of an archimedes spiral, a cartesian spiral, and the like, without departing from the spirit of the invention.
Claims (5)
1. A helical scanning method for terahertz beam alignment, comprising the steps of:
(1) selecting one point in a scanning area as the starting point of the first spiral coarse scanning;
(2) setting the length of a first spiral coarse scanning step length, adopting a scanning algorithm with a scanning track in an external spiral form, starting from a starting point, gradually and spirally scanning outwards according to the length of the first spiral coarse scanning step length, collecting a terahertz wave beam power value, and finishing the first spiral coarse scanning when the terahertz wave beam power value meets a terahertz wave beam power threshold value;
(3) and taking the end point of the first helical rough scanning as the starting point of the second helical rough scanning, reducing the scanning step length, starting the second helical rough scanning, and taking the scanning reaching the boundary position of the scanning area or the scanning reaching the preset number of helical layers as the scanning ending condition. After the scanning is confirmed to meet the end condition, the position coordinate of the maximum terahertz wave beam power in the second spiral coarse scanning is taken out and returned to the position coordinate;
(4) gradually reducing the scanning step length, repeating the step (3), continuously reducing the spiral pitch, gradually improving the precision, starting to perform outward spiral scanning again from the maximum receiving power position recorded in the step (3) in a spiral mode, wherein the adopted spiral scanning frequency depends on the required coarse scanning precision until the requirement of the coarse scanning precision is met; and (3) returning to the point of the maximum terahertz beam power after the second spiral coarse scanning is finished, detecting the terahertz beam power value of the point, comparing the terahertz beam power at the moment with the maximum terahertz beam power value which is obtained by final alignment obtained by theoretical calculation or preliminary experiment in order to obtain a considerable terahertz beam power value when entering a fine scanning stage, and if the ratio is not less than 0.8, gradually reducing the scanning step length, and repeating the step (3) until the ratio is more than 0.8, so that the spiral coarse scanning can be finished.
(5) Starting from the current maximum received power position, setting a scanning step length and a unit distance, further scanning and detecting the power value of the position near the maximum power point by adopting an optimized hill climbing method, recording the maximum power and the corresponding position coordinate, setting a detection condition by utilizing an annealing algorithm, and obtaining the maximum terahertz wave beam power value and the maximum terahertz wave beam position after the detection condition is met.
2. The helical scanning method for terahertz beam alignment of claim 1, wherein the step (1) is specifically:
determining the range of the maximum terahertz wave beam power point which is possibly generated at the terahertz wave beam receiving end, taking the range as a scanning area of the terahertz wave beam receiving end, uniformly and randomly taking points in the scanning area to measure the received terahertz power, comparing to obtain the maximum received power point, temporarily setting the maximum received power point as the maximum terahertz wave beam received power point, and taking the point as a scanning starting point. Otherwise, taking the middle point of the scanning area as the scanning starting point; the terahertz wave beam range is calculated in advance according to the terahertz frequency band and the size of the terahertz antenna and multiplied by a scanning expansion coefficient, the scanning expansion coefficient is larger than 1, and specific numerical values are defined and determined by a user.
3. The helical scanning method for terahertz beam alignment of claim 1, wherein the step (2) comprises the sub-steps of:
(2.1) setting the length of the first helical coarse scanning step 1;
the maximum terahertz wave beam power which can be detected by the terahertz wave beam receiving end and the attenuation rule of the terahertz wave beam power from the central point to the outside are derived through theoretical calculation or measured through a pre-experiment.
The pre-test determination specifically comprises: namely, manual alignment is firstly carried out by a manual alignment method, and the maximum power which can be received by the terahertz signal receiving end can be preliminarily obtained. The position of the receiver is manually adjusted, and the power distribution condition of the terahertz signal receiving end can be preliminarily obtained.
The theoretical calculation is specifically as follows: the attenuation law of terahertz beam power is calculated as Pr ═ Pt + Gt-L + Gr, where the free space loss L (db) ═ 20lgF +20lgD +32.4, F is frequency (MHz), D is distance (km), Pt is transmission power, Gt is antenna gain, and Gr is reception antenna power.
Setting a terahertz wave beam power threshold value required to be detected after the first spiral coarse scanning is finished according to a terahertz wave beam power index, wherein the terahertz wave beam power threshold value is generally between 15% and 30% of the maximum receiving power of a terahertz wave beam;
(2.2) starting a first helical rough scan by adopting a scanning algorithm of which the scanning track is in the form of an external helix: the terahertz receiving end performs fixed point rotation movement at a starting point to collect the power of the received terahertz wave beam, then moves the length of a first spiral coarse scanning step1 horizontally and rightwards, and the terahertz receiving end performs fixed point rotation movement and terahertz wave beam power collection every time the length of the first spiral coarse scanning step1 is moved;
and (2.3) moving in an external spiral form from the starting point, and circulating the step (2.2) to obtain the end point of the first spiral coarse scanning when the power of the collected terahertz wave beam is greater than the set terahertz wave beam power threshold. The first helical coarse scan is ended.
4. The helical scanning method for terahertz beam alignment of claim 1, wherein the step (3) comprises the sub-steps of:
(3.1) setting the length of the second helical coarse scanning step2
Taking the end point of the first spiral scanning as a center, selecting the step length of the second spiral rough scanning according to the precision requirement and the time requirement, controlling the step length 2 of the second spiral rough scanning to be smaller than the step length 1 of the first spiral rough scanning;
(3.2) starting a second helical coarse scan:
and taking the end point of the first spiral rough scanning as the starting point of the second spiral rough scanning, and starting the second spiral rough scanning by adopting a scanning algorithm with a scanning track in an external spiral form. And ending the scanning when the scanning reaches the boundary position or the scanning reaches the preset spiral layer number. The boundary condition is higher than the priority of reaching the preset spiral layer number condition, and the boundary condition is the boundary of the scanning area. In the second helical rough scanning, a terahertz wave beam power threshold value condition is not set any more, but the number of helical layers is preset, and the number of helical layers is determined by the scanning area and can cover the whole scanning area;
and (3.3) measuring the maximum terahertz wave beam power point in the second spiral coarse scanning area to obtain a termination point of the second spiral coarse scanning, and finishing the second spiral coarse scanning.
And returning the terahertz wave beam receiving end to the measured maximum power point after the second spiral scanning, wherein the point is the point with the maximum power in all the points for receiving power acquisition, and ending the second spiral coarse scanning stage.
5. The helical scanning method for terahertz beam alignment according to claim 1, wherein the optimized hill climbing scanning in step (5) comprises the following sub-steps:
(5.1) respectively performing fixed point rotation movement at four points which are away from the current position point by unit distances up, down, left and right, collecting terahertz wave beam power of each point, and returning to the point which receives the terahertz wave beam power and has the maximum power in the four points after scanning;
(5.2) continuously scanning until the point scanned in the fine scanning stage is reached, stopping scanning, comparing the maximum terahertz beam power values of the two points reached by the terahertz beam receiving end at last, taking the point with the larger terahertz beam power value as a final confirmation point, and recording the final position of the terahertz beam receiving end and the terahertz beam power value of the point;
and (5.3) setting a detection condition by using an annealing algorithm, and eliminating the possibility that the final position of the terahertz beam receiving end and the final terahertz beam power value are local maximum values. And setting the number of test points, and finding that the terahertz wave beam power value of each test point is smaller than the maximum terahertz wave beam power, so that the maximum terahertz wave beam power value and the power position can be obtained, and the terahertz wave beam alignment is completed.
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