CN102142899B - Satellite laser communication composite tracking and pointing vibration suppression device and control method - Google Patents
Satellite laser communication composite tracking and pointing vibration suppression device and control method Download PDFInfo
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- CN102142899B CN102142899B CN201110001629.4A CN201110001629A CN102142899B CN 102142899 B CN102142899 B CN 102142899B CN 201110001629 A CN201110001629 A CN 201110001629A CN 102142899 B CN102142899 B CN 102142899B
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- Y02D30/00—Reducing energy consumption in communication networks
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Abstract
The invention discloses a time-sharing compensation-based satellite laser communication composite tracking and pointing vibration suppression device and a control method. The device comprises a satellite platform and a satellite laser tracking and pointing system, wherein the satellite laser tracking and pointing system comprises a rough tracking and pointing system, a telescope system, a fine tracking and pointing system, a first transflective lens, a second transflective lens, a transflective lens, an acquisition and tracking sensor, a communication tracking sensor and a signal receiver. The system is characterized in that: a signal judgment device is also arranged between the satellite platform and the satellite laser tracking and pointing system; the signal decision device judges a dither signal of the satellite platform and triggers the fine tracking and pointing system to perform complementary tracking and pointing through a corresponding trigger switch according to the judgment result, or triggers a composite system formed by the rough tracking and pointing system and the fine tracking and pointing system to perform the complementary tracking and pointing. The device realizes the time-sharing tracking and pointing compensation of the rough tracking and pointing system and the fine tracking and pointing system, improves tracking and pointing efficiency, and greatly reduces the carrying power of a satellite.
Description
Technical field
The present invention relates to satellite laser communications link technology field, a kind of compound pointing equipment for inhibiting of vibration of satellite laser communications and control method based on timesharing compensation, as the aiming between two satellites, catch and follow the tracks of, the light pointing ability with the scope of exposing thoroughly, high tracking accuracy and high servo bandwidth, thick pointing system is carried out timesharing compensation to smart pointing system, can greatly reduce satellite delivery power consumption, improve the pointing efficiency of satellite optical communication.
Background technology
Satellite laser communications compare with existing radio communication have that transmission rate is high, message capacity is large, low in energy consumption, volume is little, many advantages such as lightweight, anti-interference and high security, be considered to realize the preferred plan of high bit rate communication between star, military, paid attention to widely with civil area.In satellite laser communications terminal, light pointing system is being played the part of very important role, and light pointing system has determined the basic framework of a satellite communication terminal, is also one of key of laser communication success or failure between star simultaneously.
It is a kind of effective means that improves the tracking accuracy of satellite laser communications tracking system and control bandwidth that composite shaft is controlled, and it is coordinated and formed compound work system by thick tracking system and smart tracking system.Traditional composite shaft control technology is mainly in the light path of thick tracking system, to add smart tracking system (technology [1]: C.Chen formerly, J.R.Lesh.Overview of the optical communications demonstrator[C] .SPIE, 1994,2123:87～95), the miss distance of system is detected by the detector of thick tracking system, feedback signal drives Cu Gen mechanism pursuit movement target, is imported essence with visual field, reaches the object of catching with thick tracking; The detector of essence tracking system detects by the target light slightly causing with residual error to be shaken, and by essence, follows the actuator in loop to carry out residual compensation to the optical axis, reaches the object of lock onto target.Thick, with loop target on tenacious tracking not yet, target is not stabilized in essence with in visual field time, and essence is standby with loop, essence with loop with respect to thick with loop without motion, now its contribution is zero; Only have the thick loop of following that tracking target is stabilized in to essence with in visual field, essence is just started working with loop, and residual error is compensated.This essence can realize pointing effectively with the thick pointing mode with residual error of compensation, but thick pointing system consists of theodolite or rotation biprism conventionally, and operation moment is larger, and what composite shaft system need to suppress simultaneously is exactly the dither signal of satellite platform.Vibration source is mainly the vibration of the medium-high frequency that causes of the low-frequency vibration that causes of satellite rigid motion and Satellite Payloads operation, and frequency band range is not several hertz～several KHz etc.Each dither signal needs thick tracking system immediately to follow the tracks of after producing, and then by smart pointing compensating system, so, thick pointing is all the time in operating condition, and the efficiency of pointing is lower, has also greatly increased the delivery power consumption of satellite simultaneously.
The SILEX of European Space Agency (Semiconductor Laser Intersatellite Link Experiment, referred to as SILEX) the compound axis light tracking control system of plan adopted unique composite shaft closed loop (technology [2]: T.T.Nielsen formerly, " Pointing, acquisition and tracking system for thefree space laser communication system, SILEX, " Proc.SPIE, Vol.2381, pp.194-205, 1995., technology [3]: Yan Aimin formerly, Zhou Yu, Sun Jianfeng, Liu Li people, satellite laser communication compound axis light tracking device and control method, publication number: 101630970, patent of invention), under closed loop tracking mode, the luminous point detectable signal of detector does not directly import thick pointing control ring, but feed back to smart pointing system.The output signal of the position sensor that is input as smart pointing deflection of thick pointing system.Thick pointing system unloads action so that smart pointing system makes zero according to offset signal, the Relationship for Compound-Axis Structure of the smart pointing mode of this thick pointing unloading is conducive to high precision tracking, when particularly platform exists disturbance, can effectively realize light beam aiming, catch and follow the tracks of.But thick pointing system generally adopts L-type arm theodolite structure or rotation biprism structure, by its rotation of step motor control, thereby realize the rotation partly of whole fast mobile terminal.In whole pointing process, the offset signal that thick pointing system provides according to smart pointing position detector is carried out real-time unloading to smart pointing system, the position deviation signal that essence is followed is according to the different signals with random frequency and random amplitude that present of the actual deflection situation of accurate deflecting mirror, can be regarded as a kind of random noise signal, first the input that this signal carries out unloading operation as thick pointing system should carry out the processing of filtering algorithm, generally adopts predictive filtering to process.The principle of predictive filtering is mainly by known echo signal, to release in advance the target information of next step or lower several steps.Known echo signal changes gentlyer, and the low frequency component of signal is more, otherwise known echo signal changes strongly with regard to Shaoxing opera, irregular seeking, and the high fdrequency component of signal is more, and the error of the pre-echo signal of releasing and actual signal is just larger.When the position deviation signal that essence is followed carries out predictive filtering, because offset signal exists certain discreteness, the prediction signal obtaining will be very inaccurate, and this just brings error for unloading of thick pointing system.
Summary of the invention
The object of the invention is to overcome above-mentioned the deficiencies in the prior art, a kind of compound track sight of satellite laser communications and control method based on timesharing compensation is provided, this device can be according to the difference of platform dither signal amplitude size, trigger respectively smart pointing system or essence and carry out pointing compensation with two kinds of modes of the thick pointing system of compensation, thereby realize the timesharing pointing compensation of thick pointing system to smart pointing system, to improve pointing efficiency, reduce satellite delivery power consumption.
Technical solution of the present invention is as follows:
A kind of compound pointing equipment for inhibiting of vibration of satellite laser communications based on timesharing compensation, comprise satellite platform and laser satellite pointing system, this laser satellite pointing system comprises thick pointing system, telescopic system, essence pointing system, the first saturating anti-mirror, the second saturating anti-mirror, semi-transparent semi-reflecting lens, acquisition and tracking transducer, communication tracking transducer and signal receiver form, the position relationship of above-mentioned component is as follows: the direction entering by described receiving beam, described thick pointing system successively, telescopic system, essence pointing system, the first saturating anti-mirror, the second saturating anti-mirror, semi-transparent semi-reflecting lens and described signal receiver, reverberation direction at the second described saturating anti-mirror arranges described acquisition and tracking transducer, in described semi-transparent semi-reflecting lens reverberation direction, described communication tracking transducer is set, be characterized in: between described satellite platform and laser satellite pointing system, also have signal decision device, this signal decision device is comprised of signal decision device and corresponding trigger switch, described signal decision device produces at random dither signal to the shake of satellite platform and judges in advance, according to judged result, by corresponding trigger switch, trigger smart pointing compensating system pointing respectively, or the hybrid system that triggers thick pointing system and smart pointing system composition compensates pointing.
The control method of described satellite laser communication compound axis light tracking equipment for inhibiting of vibration, comprises the following steps:
1. first, satellite communication platform is in normal operating conditions, described signal decision device arranges the condition threshold value that the dither signal of described satellite communication platform output is judged, if signal amplitude is during lower than described condition threshold value, the inhibition that explanation only can be vibrated by smart pointing system, if the hybrid system that signal amplitude higher than described condition threshold value, should adopt smart pointing system and thick pointing system to form, to realize quickly pointing compensation;
2. when satellite platform occurs after random shake, dither signal is as a kind of random input signal of system, first by signal decision device, judge, if dither signal amplitude is during lower than described condition threshold value, described signal decision device only triggers separately smart pointing system works, thick pointing system is not worked, until complete the inhibition of vibration signal by a small margin;
If 3. the dither signal amplitude described in the judgement of signal decision device is higher than described condition threshold value, signal decision device triggers the advanced line trace of thick pointing system by corresponding trigger switch to be suppressed, when thick pointing system works and by the luminous point of reception, be incorporated into essence with in field range and after keeping stablizing, thick pointing system quits work, essence pointing system compensates the residual error of the thick tracking of thick pointing system, completes the inhibition of violent oscillatory motion signal.
Technique effect of the present invention:
The present invention is the satellite laser communication compound axis light tracking equipment for inhibiting of vibration based on timesharing compensation, device consists of smart pointing system and thick pointing system, the triggering of each subsystem drives the amplitude that depends on satellite platform vibration signal, for the vibration signal of high frequency by a narrow margin, trigger separately smart pointing system and all can complete vibration suppression, and for the vibration signal of amplitude low-frequency, need first to trigger thick pointing system, reception luminous point is directed to essence and with re-using smart pointing system in visual field, carries out residual compensation.Be different from traditional residual compensation method and discharging method, Method And Principle of the present invention is correct, thick smart system Cooperation Strategy is simple, and the tracking while can be used as two satellite communications and vibration suppression have the light pointing ability of the scope of exposing thoroughly, high tracking accuracy and high servo bandwidth.
The thick pointing system that the present invention had both solved in traditional residual compensation method is moved the problem that causes satellite delivery power consumption to increase all the time, the increase of having avoided again in discharging method the discreteness due to smart pointing system offset signal to cause the predicated error of predictive filtering algorithm to increase the systematic error of introducing, greatly reduce satellite delivery power consumption, improve the pointing efficiency of satellite optical communication.
Accompanying drawing explanation
Fig. 1 is the block diagram of the compound pointing equipment for inhibiting of vibration of satellite laser communications of the present invention.
Fig. 2: the control signal flow chart of the compound pointing equipment for inhibiting of vibration of satellite laser communications of the present invention.
In figure: 1-satellite platform, 2-signal decision device, L1-launches beacon beam, L2-receives beacon beam, the thick pointing system of 21-, 22-telescopic system, 23-essence pointing system, 24-acquisition and tracking transducer, 26-communication tracking transducer, 27-signal receiver, the saturating anti-mirror of M1-first, the saturating anti-mirror of M2-second, M3-semi-transparent semi-reflecting lens, 233-essence pointing system and the common hybrid system (using empty wire frame representation) forming of thick pointing system, 200-dither signal, 31-the first judgement switch, 32-the second judgement switch, 321-the 3rd judgement switch, 33-0 signal level generator, 34-first signal adder, 35-secondary signal adder, 36-the 3rd signal adder, 37-oscilloscope, the selected signal of 302-the first judgement switch, the selected signal of 303-the second judgement switch.
Embodiment
Below in conjunction with drawings and Examples, further describe the present invention, but should not limit the scope of the invention with this.
First refer to Fig. 1, Fig. 1 is the block diagram of the compound pointing equipment for inhibiting of vibration of satellite laser communications of the present invention.As seen from the figure, the compound pointing equipment for inhibiting of vibration of satellite laser communications of the present invention, comprise satellite platform 1 and laser satellite pointing system, this laser satellite pointing system comprises thick pointing system 21, telescopic system 22, essence pointing system 23 first saturating anti-mirror M1, the second saturating anti-mirror M2, semi-transparent semi-reflecting lens M3, acquisition and tracking transducer 24, communication tracking transducer 26 and signal receiver 27 form, the position relationship of above-mentioned component is as follows: the direction entering by described receiving beam L2, described thick pointing system 21 successively, telescopic system 22, essence pointing system 23, the first saturating anti-mirror M1, the second saturating anti-mirror M2, semi-transparent semi-reflecting lens M3 and described signal receiver 27, reverberation direction at the second described saturating anti-mirror M2 arranges described acquisition and tracking transducer 24, in described semi-transparent semi-reflecting lens M3 reverberation direction, described communication tracking transducer 26 is set, be characterized in: between described satellite platform 1 and laser satellite pointing system, also have signal decision device 2, this signal decision device 2 is comprised of signal decision device and corresponding trigger switch, described signal decision device produces at random dither signal 200 to the shake of satellite platform 1 and judges in advance, according to judged result, by corresponding trigger switch, trigger smart pointing system 23 respectively and compensate pointing, or the hybrid system 233 that triggers thick pointing system and smart pointing system composition compensates pointing.
Whole device is in following the tracks of communications status, receive next laser beam L2 successively by thick pointing system 21, telescopic system 22, the saturating anti-mirror M1 of smart pointing system 23, first, the second saturating anti-mirror M2, by the second saturating anti-mirror M2, be divided into folded light beam and transmitted light beam, folded light beam arrives acquisition and tracking transducer 24, and transmitted light beam is divided into folded light beam and transmitted light beam through semi-transparent semi-reflecting lens M4 again, wherein folded light beam arrives communication tracking transducer 26, transmitted light beam arriving signal receiver 27.
When Platform Vibration signal 200 is judged to be by a narrow margin high-frequency signal by signal decision device 2, enforcement of the judgment switch only triggers smart pointing system 23 and carries out pointing compensation, now thick pointing system 22 keeps motionless, and the stable of communication optical axis can complete by smart pointing system 23 separately very soon;
When Platform Vibration signal 200 is judged to be amplitude low-frequency signal by signal decision device 2, in the hybrid system 233 that enforcement of the judgment switching over is slightly followed with compensation to essence, in this hybrid system, the information that thick pointing system 22 first departs from acquisition and tracking transducer 24 or communication tracking transducer 26 according to luminous point is carried out the pointing to light beam, after thick pointing system 22 completes, essence pointing system 23 compensates its post exercise pointing residual error, thereby complete the inhibition to the wide cut low frequency signal 231b of Platform Vibration, realize the stable rapidly of communication optical axis.
Refer to Fig. 2, Fig. 2 is the control signal flow chart of the compound pointing equipment for inhibiting of vibration of satellite laser communications of the present invention again.As seen from the figure, satellite platform 1 is random to be produced after dither signal 200, and it is input to respectively in the first judgement switch 31 and the second judgement switch 32, and the threshold value of these two switches sets in advance.
When signal 200 is high-amplitude dither signal by the threshold decision in the first judgement switch 31 and the second judgement switch 32, the first judgement switch 31 output signals 302 are this dither signal, and output signal 303 is zero level output in the second judgement switch 32, now dither signal is input in the composite subsystem 233 of the thick pointing system of smart pointing system balance, wherein thick pointing system 21 the 3rd judgement switch 321 is below output as the output of thick pointing system, after the output of this output and smart pointing system is added by the 3rd signal adder 36, be input to oscilloscope 37, oscilloscope can be used for observing the repressed effect of vibration signal.
When signal 200 is when by the first judgement switch 31 and the second judgement, the predetermined threshold value in switch 32 is judged as by a narrow margin dither signal, in the first judgement switch 31, output signal 302 is zero level output, in the second judgement switch 32, output signal 303 is this dither signal, now this dither signal is only input to the 3rd signal adder 36 addition port above, first signal adder 34 be input as 0, the output of thick pointing system 21 the 3rd judgement switch 321 is below also 0, be that thick pointing system 21 is not worked under this RST, system is only used smart pointing system 22 to carry out the inhibition of dither signal.Now, the lower end of signal adder 36 is input as 0, and upper end is input as the output of smart pointing system 22, and Output rusults is presented on oscilloscope 37.
In the present embodiment, the rotation biprism of thick pointing system 21 is selected K9 glass material, effective clear aperture Φ 250mm, sweep limits ± 16 °, scanning accuracy 100 μ rad, 2.7 °/s of sweep speed; Essence pointing system 22 is selected the quick titling mirror of the U.S. FSM-320 of Newport company type, scanning angle scope ± 26mrad, angular resolution≤1 μ rad, closed-loop bandwidth 800Hz; Acquisition and tracking transducer 24 is selected the German Mikrotron MC1302 of company type cmos sensor, pixel 1280 * 1024, and Pixel Dimensions 12 μ m * 12 μ m, freely window; Communication tracking transducer 26 is selected the QP50-6SD2 type transducer of U.S. Pacific Ocean silicon sensor company, photosensitive region Φ 7.8mm, bandwidth 257kHz.
The present invention is based on satellite laser communication compound axis light tracking equipment for inhibiting of vibration and the control method of timesharing compensation, both the thick pointing system having solved in traditional residual compensation method is moved the problem that causes satellite delivery power consumption to increase all the time, the increase of having avoided again in discharging method the discreteness due to smart pointing system offset signal to cause the predicated error of predictive filtering algorithm to increase the systematic error of introducing, greatly reduce satellite delivery power consumption, improve the pointing efficiency of satellite optical communication.
Claims (2)
1. the compound pointing equipment for inhibiting of vibration of satellite laser communications based on timesharing compensation, comprise satellite platform (1) and laser satellite pointing system, this laser satellite pointing system comprises thick pointing system (21), telescopic system (22), essence pointing system (23), the first saturating anti-mirror (M1), the second saturating anti-mirror (M2), semi-transparent semi-reflecting lens (M3), acquisition and tracking transducer (24), communication tracking transducer (26) and signal receiver (27), the direction entering by receiving beam (L2), described thick pointing system (21) successively, telescopic system (22), essence pointing system (23), the first saturating anti-mirror (M1), the second saturating anti-mirror (M2), semi-transparent semi-reflecting lens (M3) and described signal receiver (27), reverberation direction at the second described saturating anti-mirror (M2) arranges described acquisition and tracking transducer (24), in described semi-transparent semi-reflecting lens (M3) reverberation direction, described communication tracking transducer (26) is set, it is characterized in that: between described satellite platform (1) and laser satellite pointing system, also have signal decision device (2), this signal decision device (2) judges the random dither signal (200) producing of satellite platform (1), and by corresponding switch triggering essence pointing system (23), compensate pointing respectively according to judged result, or the hybrid system (233) that triggers thick pointing system and smart pointing system composition compensates pointing.
2. the control method of the compound pointing equipment for inhibiting of vibration of satellite laser communications based on timesharing compensation claimed in claim 1, comprises the following steps:
1. first, satellite platform (1) is in normal operating conditions, described signal decision device (2) arranges the condition threshold value that the random dither signal producing of described satellite platform (1) is judged, if signal amplitude is during lower than described condition threshold value, the inhibition that explanation only can be vibrated by smart pointing system, if the hybrid system that signal amplitude higher than described condition threshold value, should adopt smart pointing system and thick pointing system to form, to realize quickly pointing compensation;
2. when a kind of random input signal of the random dither signal producing of satellite platform as the compound pointing equipment for inhibiting of vibration of satellite laser communications, first by signal decision device (2), judge, if dither signal amplitude is during lower than described condition threshold value, described signal decision device (2) only triggers separately smart pointing system (23) work, thick pointing system is not worked, until complete the inhibition of vibration signal by a small margin;
If 3. the dither signal amplitude of the random generation described in signal decision device (2) judgement is higher than described condition threshold value, signal decision device (2) suppresses by the advanced line trace of the thick pointing system of corresponding switch triggering (21), when thick pointing system works and by the luminous point of reception, be incorporated into essence with in field range and after keeping stablizing, thick pointing system (21) quits work, essence pointing system (23) compensates the residual error of the thick tracking of thick pointing system, completes the inhibition of high-amplitude vibration signal.
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| CN103532617B (en) * | 2013-10-18 | 2016-07-06 | 重庆理工大学 | The movement locus analogy method of airborne laser communication platform and system |
| CN110455498B (en) * | 2019-07-04 | 2021-03-16 | 湖北航天技术研究院总体设计所 | Performance testing device and method for composite shaft tracking and aiming system |
| CN110579872B (en) * | 2019-09-27 | 2021-12-07 | 网络通信与安全紫金山实验室 | Tracking and aiming system and adjusting method |
| CN111665720B (en) * | 2020-06-16 | 2022-07-19 | 哈尔滨工业大学 | Satellite laser communication composite axis tracking decoupling control system and method |
| CN113296128B (en) * | 2021-05-28 | 2023-07-25 | 中国科学院微小卫星创新研究院 | System and method for establishing high-capture-rate low-orbit inter-satellite laser communication link |
| CN113641182B (en) * | 2021-07-27 | 2023-12-01 | 中国星网网络应用有限公司 | High-precision aiming and pointing method and system for inter-satellite laser communication system |
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| CN1322688C (en) * | 2005-01-10 | 2007-06-20 | 中国科学院上海光学精密机械研究所 | Space laser communication motion double-terminal long distance transmission analog device |
| CN101630970B (en) * | 2009-08-14 | 2012-07-18 | 中国科学院上海光学精密机械研究所 | Satellite laser communication compound axis light tracking device and control method thereof |
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