CN102508221A - Deviation compensation method of angle of roll of airborne laser radar - Google Patents
Deviation compensation method of angle of roll of airborne laser radar Download PDFInfo
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Abstract
The invention discloses a deviation compensation method of an angle of roll of airborne laser radar based on a polygonal rotating mirror scanning mode. Through adjusting an incident angle of a laser beam, the method can compensate the translation of a scanning strip caused by the roll of a load platform; an executive mechanism of a deviation compensation system of the angle of roll of the airborne laser radar comprises an adjusting motor and an adjusting mirror, a measuring mechanism is a position and attitude measurement system (a POS system) of the airborne laser radar system itself; the POS system measures the deviation of the angle of roll of the load platform, and the deviation is used as an input of a control system; the control system gains an angle required to be compensated by calculation, namely an angle of which the motor needs to rotate, and issues an instruction, so that the motor can drive the adjusting mirror to rotate at the corresponding angle to change the incident direction of the laser beam on the polygonal rotating mirror and further change the direction of emergent laser. Since the scanning line formed by laser foot points of the emergent light on the ground cannot move left and right due to the deviation of the angle of roll, the scanning strip without left-and-right translation can be further ensured.
Description
Technical field
The present invention relates to remote sensing and earth observation field, be mainly a kind of airborne laser radar platform to the multiple surface rotating mirror scan mode and sidewinder the method that angular displacement compensates the influence of scanning strip.
Background technology
Aerial remote sensing is widely used in fields such as topographic mapping, oceanic sounding, atmosphere environment supervision, ecosystem measurement, military and national defense with its operating flexibility, advantage such as cost is low, easy to operate, operating efficiency is high, drafting period is short.
The airborne laser radar system as observation platform, is a sensor with the laser scanning and ranging system with aircraft, can obtain the three-dimensional information of earth surface in real time, is the new and high technology means of obtaining geospatial information.The chief component of airborne laser radar measuring system comprises: 1. be used for the POS system of measuring table position and attitude, comprise dynamic difference GPS receiver and attitude measurement unit (IMU); 2. be used for the Laser Measurement radar signal RP LDMS that the pin dot spacing leaves to ground; 3. being used to navigates takes the photograph the camera of imaging.At present, domestic research at the laser radar hardware aspect also is in the starting stage, but existing how tame foreign vendor provides the airborne laser radar measuring equipment, like Canadian Optech company, Austrian Riegl company etc.At present the international and domestic research focus processing, the raising of platform data measuring accuracy, the many soundings of laser and the payload platform attitude angle that mainly concentrate on the lidar measurement data changes the influence of laser point cloud etc., but the compensation method research of attitude angle deviation is not also had.
Existing laser radar scan mode mainly contains four kinds of typical way: pendulum mirror scan mode, multiple surface rotating mirror scan mode, optical fiber electric scanning mode, conical scanning mode.The multiple surface rotating mirror scan mode with its analyzing spot be evenly distributed, characteristics such as reliability stability height, more and more widely adopted, like Riegl and a series of products that IGI company releases, all be this scan mode of employing.The principle of multiple surface rotating mirror scan mode is: the regular polygon prism as catoptron, is established a rotating shaft along its axis, rotate through the driven by motor rotating shaft, make the regular polygon prism do uniform rotation; Along with the rotation of minute surface, its position is in continuous variation, and incident angle also constantly changes, and the direction of folded light beam also changes thereupon; Suppose that rotating speed is ω, because each minute surface all is identical, then every at a distance from the time of 360/ ω, minute surface will be got back to initial position; Equally, the direction of folded light beam also will be got back to initial position.Like this, the variation of mirror position is periodic, and the folded light beam direction also periodically changes, and the position of laser pin point also back and forth changes within the specific limits on the ground; Along axially the flying of rotating shaft, will realize the scanning of laser beam again on ground.Because only along a direction rotation, the direction of laser beam (folded light beam) also will in case reach the scanning edge, be got back to initial position along a scanning direction at once, scan along same direction again in rotating shaft.Therefore, its laser pin point becomes simple scanning parallel lines track in ground surface or terrain, and the distribution of analyzing spot is more even rule.This scan mode can be adjusted analyzing spot in horizontal and vertical spacing through adjustment sweep velocity and pulsed frequency, thereby controls topocentric density, and the product that satisfies its requirement is provided for different users.This mode can make the very even of rotational speed maintenance, help packing density and be evenly distributed, and mechanical hook-up is simple relatively, and the stability of equipment and reliability are better relatively.
Payload platform is according to the line of flight that configures smooth flight at the uniform velocity point-blank under the ideal situation, but receives the influence of factors such as big entraining air stream, engine luggine, and the speed of payload platform, attitude all can fluctuate in the practical flight.The wherein variation of attitude angle; Can the distribution of laser point cloud be exerted an influence; And the angle of roll makes the translation of the scanning strip left and right sides depart from the position of setting; If the angle of roll is excessive, then this scanning strip can and the scanning strip of an adjacent side between do not have overlapping and produce the drain sweep phenomenon, produce excessively overlapping phenomenon with the scanning strip of opposite side.Existing airborne laser radar system, scanning strip degree of overlapping are all more than 30%, and this has not only increased redundant data but also has reduced the efficient of measuring.The angle of roll is compensated, not only can guarantee not taking place of drain sweep phenomenon, can also reduce the degree of overlapping of scanning strip, reduce redundant data, improve efficiency of measurement.Therefore, the compensation of sidewindering angular displacement had important and practical meanings.
At present; Attitude angle deviation compensation method to the remote sensing payload platform all is to the aeroplane photography payload platform; Like patent 200910089155.6; Control platform through heavy drives whole load and rotates the compensation that realizes the attitude angle deviation, and its control accuracy and real-time all receive very big restriction.Rarely have to the article of the attitude angle deviation compensation of laser radar load and patent and to see.Patent of the present invention only compensates to the angle of roll deviation in the attitude angle deviation, and the incident direction through adjusting mechanism change incident ray can realize the compensation of angle of roll deviation accurately and real-time.
Summary of the invention
The factor of decision laser pin point position has: laser emission point and emission angle.Want to change the position of laser pin point, just from launching site and emission angle.Launching site is on mirror surface, and the size of its variation can be ignored with respect to flying height.Therefore want to change the position of laser pin point, should be from emission angle.Angle has incident angle and the angle of oscillation of pendulum mirror and the rotation angle of polygonal mirror.When incident angle and minute surface pitch angle were confirmed, according to reflection law, reflection angle is also just unique to have been confirmed.Same because flying height is very high, the variation that incident angle is very little will cause the big change in displacement of laser pin point.This also is that payload platform angle of roll deviation influences serious reason to laser pin point, equally also is in limited space time, to compensate feasible reason to sidewindering angular displacement.
The present invention is based on the airborne laser radar system-based of existing multiple surface rotating mirror scan mode and realizes; Adjust mirror as topworks with driven by motor; Through changing the incident ray direction of laser beam; Realization is to the real-Time Compensation of the payload platform angle of roll, eliminates because of the influence to scanning strip of the deviation of the angle of roll.
A kind of method of airborne laser radar angle of roll deviation compensation that realizes that the present invention proposes adopts following technical scheme:
Incident angle through the adjustment laser beam compensates because the translation of the scanning strip that the rolling of payload platform causes.Wherein, according to the angle of roll deviation of payload platform, calculate the angular dimension of required compensation; Rotate through driven by motor adjustment mirror; Real-Time Compensation angle of roll deviation, thus guarantee that scanning strip does not produce left and right sides translation because of payload platform sidewinders, in order to avoid drain sweep phenomenon and excessive overlapping phenomenon occur.
Wherein, the multiple surface rotating mirror scan mode is meant that the regular polygon prism as catoptron, establishes a rotating shaft along its central shaft; Rotate through the driven by motor rotating shaft, make the regular polygon prism do uniform rotation, along with the rotation of minute surface; Its positional cycle property variation; Incident angle is also with regard to cyclical variation, and the folded light beam direction also periodically changes, and the position of laser pin point also moves back and forth within the specific limits on the ground; Aircraft axially flies along rotating shaft, will realize that laser beam is on the ground along the scanning of heading.Wherein, form airborne laser radar angle of roll deviation compensation system by payload platform POS measuring system, adjustment motor and adjustment mirror; Said POS measuring system is that the airborne laser radar measuring system itself has; Comprise position measuring system and attitude measurement system; Wherein crab angle, the angle of pitch and the angle of roll of attitude measurement output payload platform, the size of its angle of roll be exactly payload platform be the actual rotation attitude of rotation axis and the deviation between the ideal pose with the heading; Said adjustment motor has high precision angle code-disc, utilizes the control system of motor that motor is rotated quickly and accurately; Said adjustment mirror is coaxial being connected in the rotating shaft of adjusting motor; In laser radar system, has high reflectance on the laser instrument output laser wavelength; Its size is a bit larger tham the size of laser instrument output laser facula; Laser instrument output laser at first is radiated on the adjustment mirror, is mapped on the regular polygon prism through being reflected into of mirror of adjustment.
Wherein, in the said airborne laser radar angle of roll deviation compensation system, adjustment motor and adjustment mirror are formed the topworks of bucking-out system, and POS system is the measuring mechanism of bucking-out system, and electric machine control system is the control system of bucking-out system; Said POS system records the angle of roll deviation of payload platform, and as the input of control system, control system is through calculating the angle that needs compensation; It is the angle that motor need rotate; Send instruction then, let driven by motor adjustment mirror rotate corresponding angle, change the incident direction that is incident on the incident laser on the multiple surface rotating mirror; Rotation along with multiple surface rotating mirror; Thereby the exit direction that changes shoot laser distributes, and makes sweep trace that emergent ray forms not because of move left and right takes place angle of roll deviation, the variation of the emergent ray direction that compensation angle of roll deviation causes; Thereby guarantee that scanning strip does not produce left and right sides translation because of payload platform sidewinders, in order to avoid drain sweep phenomenon and excessive overlapping phenomenon appear.
Wherein, When payload platform angle of roll deviation is zero; Relative position between laser instrument in the airborne laser radar system, the topworks of bucking-out system, the regular polygon prism satisfies: the laser instrument emitted laser is incident on the adjustment mirror; Emergent light is radiated on the regular polygon prism, and the emergent light of adjustment mirror is the incident light of regular polygon prism; Rotation along with front body prism; Form a circumscribed circle; Each prism facets is regarded as a string, one section arc of corresponding circumscribed circle, and the mid point that passes this section arc when incident light is radiated on the minute surface with 45 degree incident angles; Be minute surface and horizontal direction when being miter angle, emergent light shines on the ground straight down; Unidirectional when the regular polygon prism, at the uniform velocity, continuously rotation, then the distribution of emergent ray is that the center is the left-right symmetric shape with the light of outgoing straight down; Foundation is the coordinate system of initial point with regular polygon prism center; Its x axle along continuous straight runs points to the right side of payload platform heading; The y axle is directed towards ground vertically; Relative position between said adjustment mirror center and the regular polygon prism center is used the vector representation of being pointed to adjustment mirror center by initial point, is designated as
Its size is R
2, being designated as β with the angle of coordinate system x axle, the external radius of a circle of regular polygon prism is designated as r, and then the relative position between regular polygon prism center and the adjustment mirror center satisfies R
2Sin (β)=rcos (π/4).
Wherein, When payload platform angle of roll deviation is non-vanishing; Laser radar system is along with whole payload platform sidewinders; Then emergent ray also along with take place pointing to deflection, along payload platform straight down the direction emitting laser also no longer be the laser of that position when not having angle of roll deviation, the overall distribution of shoot laser is that the center is the left-right symmetric shape with direction straight down no longer just.
Wherein, for the adjustment emergent light distributes, control system is calculated the angle that the adjustment mirror need rotate, and its rotational angle is determined by the relative position between adjustment mirror center and the regular polygon prism center and the angle of roll deviation of payload platform jointly; When payload platform sidewinders, with regular polygon prism center be the coordinate system of initial point also along with rotating together, but the relative position between regular polygon prism center and the adjustment mirror center is constant; The angle of roll deviation of payload platform is designated as θ; The angle that the adjustment mirror rotates expression with
is then satisfied following equation:
Beneficial effect of the present invention: the present invention discloses a kind of on existing airborne laser radar system-based, eliminates the method for the platform angle of roll to the scanning strip influence through adjustment laser beam incident direction.The present invention can reduce the degree of overlapping of scanning strip, thereby reduces redundant data, improves scan efficiency.The present invention has broad application prospects in remote sensing and survey field.
Description of drawings
Fig. 1 sidewinders angular displacement compensation process flow diagram for platform;
Fig. 2 sidewinders the light path principle synoptic diagram of angular displacement to the emergent ray aspect effect for platform;
Fig. 3 sidewinders angular displacement compensation light path principle figure for platform;
The curve map that Fig. 4 changes with angle of roll deviation for adjustment mirror offset angle.
Embodiment
Specify embodiment of the present invention below in conjunction with accompanying drawing.Said method is as shown in Figure 1; Divide three steps; Step 1 101: obtain the angle of roll deviation of platform, step 2 102 in real time by the POS system of platform self: need the angle of compensation through the control system calculating of motor, step 3: adjustment driven by motor adjustment mirror rotates suitable angle.Adjustment is with respect to the incident angle of the incident ray of multiple surface rotating mirror, guaranteeing laser along the preset direction outgoing, thereby do not produce drain sweep and excessive overlapping phenomenon.
In three attitude angle of platform, distribute about angle of roll effects scanning strip, for guaranteeing not occur the drain sweep phenomenon between the adjacent scanning strip, bigger scanning strip degree of overlapping usually is set.High scanning strip degree of overlapping has increased the redundancy of measurement data, has reduced efficiency of measurement.Below through Fig. 2, Fig. 3 to sidewinder angular displacement to the influence of laser emitting direction with and compensation method carry out detailed description.
Under the ideal situation, aircraft is made linear uniform motion, and the relative position of airborne laser radar system is shown in dotted line among Fig. 2.At first set up the reference frame of airborne laser radar system, promptly local vertical coordinate system 200, its Z axle is parallel to the normal vector of the earth surface level; Set up carrier coordinate system then, just aircraft axes 210, and its X axle is along heading, and its Y axle 211 is along the wing direction, and its Z axle 212 is parallel with the Z axle of local vertical coordinate system vertically downward, and when aircraft flies with perfect condition, each attitude angle is zero; Set up tilting mirror coordinate system 220 at last, its x axle is along the direction of scanning, and is parallel with 211, the vertical and direction of scanning of y axle, and parallel with 212, its initial point is in the rotating shaft of tilting mirror.Tilting mirror coordinate system 220 is confirmed by vector 215 with the relative position of aircraft axes 210.Multiple surface rotating mirror is done uniform rotation, and 221 is one of them minute surface of regular polygon prism, and the circumscribed circle that rotates back formation is 222.Laser instrument 224 emission of lasering beam 225, the mid point 223 that passes one section arc of minute surface 221 correspondences when 225 levels is radiated on the multiple surface rotating mirror minute surface 221 with 45 degree incident angles, and 226 irradiations vertically downward of emergent ray are on the ground.As long as guarantee when emergent ray 226 vertical irradiations on the ground the time; Incident ray 225 can pass the mid point of the arc of minute surface 221 correspondences; According to reflection law, when minute surface 221 rotated, emergent ray pin point distribution on the ground will be that the center left-right symmetric distributes with emergent ray 226 vertically downward; When aircraft flies forward, just form desirable scanning strip.
Under the actual conditions, owing to receive the influence of factors such as atmospheric turbulence, engine luggine, certain fluctuation all can take place and depart from ideal situation in the speed of platform, attitude in the practical flight.The design of the line of flight generally neither straight line in addition, and when aircraft adjustment heading, the flying speed of aircraft, attitude equally also can change.Suppose to receive the influence of various factors; Make aircraft platform produce an angle of roll deviation 217, thereby make total system turn to solid line position, if do not compensate the angle of roll deviation this moment by dotted line position; Then the camber line mid point 233 of minute surface 231 correspondences is passed in 235 irradiations of laser instrument 234 emitted light beams; Emergent ray 236 just no longer vertically downward, the laser pin point that forms with emergent ray 236 is that translation has just taken place left the sweep trace of symcenter, thereby causes whole scanning strip generation translation.Under the scanning strip about this scanning strip is desirable, as not have translation situation, then can possibly produce the drain sweep phenomenon with its right side scanning excessively overlapping with its left side scanning strip.For fear of the translation of scanning strip under non-ideality, especially for fear of the excessive overlapping and drain sweep phenomenon that is produced by the scanning strip translation, must compensate sidewindering angular displacement, with scanning strip adjust to ideal situation under scanning strip match.In order to adjust the distribution of emergent ray, according to reflection law, can realize through the direction of adjustment incident ray, also can realize through the normal direction of adjustment reflecting surface.Because multiple surface rotating mirror is the prism of regular polygon, when it rotated, the normal vector of mirror surface was to change periodically continuously.Therefore, can only change the direction of emergent ray through the direction that changes incident ray, as shown in Figure 3.Drive the adjustment mirror 336 that is connected in the rotating shaft 352 through motor 351 and rotate the direction that changes incident ray 337.Motor 351 drives the angle 358 that adjustment mirrors 336 rotate must be satisfied: the mid point 355 that the incident ray 354 after the change passes the camber line of minute surface 356 correspondences is radiated at 356 last times of minute surface, and the emergent ray 357 after reflecting through 356 shines on the ground vertically downward.
Tilting mirror coordinate system 330 is confirmed by vector 316 with aircraft axes 310 relative positions, is used
Expression, its size is R
1, with the angle of the Y axle 313 of aircraft axes be 315, represent with α; The relative position at adjustment mirror center and multiple surface rotating mirror coordinate system center is confirmed by vector 341, is used
Expression, its size is R
2, with the angle of multiple surface rotating mirror coordinate system x axle be 342, represent with β; It is 317 that aircraft platform rotates the angle of roll deviation that forms, and representes with θ; The radius of tilting mirror circumscribed circle 332 is represented with r; Angle 358 usefulness that the adjustment mirror rotates
Expression.When the aircraft platform attitude changed, whole airborne laser radar system all followed together and rotates, but the relative position between the various piece of internal system is constant.Relative position between regular polygon prism center and the adjustment mirror center must satisfy
R
2sin(β)＝rcos(π/4) (1)
The angle that the adjustment mirror rotates is found the solution by following formula:
Can find out from following formula; The angle that the adjustment mirror rotates and the relative position
of multiple surface rotating mirror coordinate system and aircraft axes are irrelevant, and be only relevant with multiple surface rotating mirror circumradius r with the relative position
of adjustment mirror center and multiple surface rotating mirror coordinate system.After the installing and fixing of airborne laser radar system, R
2, β can measure out, and the external radius of a circle of multiple surface rotating mirror also is a prevision or scalable.Therefore, can obtain the angle 358 that the adjustment mirror need rotate through following formula, the position of rotating back adjustment mirror is 353, thereby changes the direction of incident ray, the translation of the scanning strip that compensation angle of roll deviation angle is brought.
Adjustment mirror when Fig. 3 is [15 °, 15 °] for the constant interval as r=30mm,
θ compensates angle of roll deviation and the rotational angle curve.
The angle of roll deviation that is recorded in real time by payload platform POS is as the input of motor 351 control system; Calculating needs the rotation compensation angle; Motor 351 drives the adjustment mirror and rotates; Thereby the deviation of the real-Time Compensation angle of roll guarantees that the airborne laser radar scanning system does not move because of scanning strip takes place angle of roll deviation.
In sum; The present invention proposes a kind of method that the airborne laser radar platform sidewinders angular displacement that compensates: the angle of roll deviation that obtains payload platform through the POS system of payload platform self; Change the incident direction of incident ray through driven by motor adjustment mirror; Further change the exit direction of laser, thereby guarantee that scanning strip because of the variation of the angle of roll left and right sides translation does not take place.This method can guarantee that payload platform scans and the unlikely drain sweep situation that occurs according to the scanning strip that presets, and this method can further reduce the degree of overlapping of scanning strip, thereby reduces the redundancy of data, improves efficiency of measurement.
The above; Be merely the basic scheme of practical implementation method of the present invention, but protection scope of the present invention is not limited thereto, any those skilled in the art that are in technical scope disclosed by the invention; The variation that can expect or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.All fall into the implication that is equal to of claim and the variation in the scope all will be included within the scope of claim.
Claims (3)
1. the airborne laser radar angle of roll deviation compensation method based on the multiple surface rotating mirror scan mode compensates because the translation of the scanning strip that the rolling of payload platform causes through the incident angle of adjusting laser beam; It is characterized in that airborne laser radar angle of roll deviation compensation system is made up of payload platform POS (position & orientation system) measuring system, adjustment motor and adjustment mirror; Said POS measuring system is that the airborne laser radar measuring system itself has, and comprises position measuring system and attitude measurement system, and angle of roll deviation is the angle of roll of attitude measurement system output; Said adjustment motor has high precision angle code-disc, utilizes the control system of motor that motor is rotated quickly and accurately; Said adjustment mirror is coaxial to be connected in the rotating shaft of adjusting motor; Has high reflectance on the laser instrument output laser wavelength in laser radar system; Its size is a bit larger tham the size of laser instrument output laser facula; Laser instrument output laser at first is radiated on the adjustment mirror, is mapped on the regular polygon prism through being reflected into of mirror of adjustment; In the said airborne laser radar angle of roll deviation compensation system, topworks comprises adjustment motor and adjustment mirror, and said POS system is the measuring mechanism of bucking-out system, and the control system of said motor is the control system of bucking-out system; Said POS system records the angle of roll deviation of payload platform; As the input of control system, control system is through calculating the angle that needs compensation, i.e. the angle that need rotate of motor; Send instruction then; Driven by motor adjustment mirror rotates corresponding angle, changes the incident direction that is incident on the laser on the regular polygon prism, along with the rotation of regular polygon prism; Thereby the exit direction that changes shoot laser distributes; Make emergent ray be radiated at sweep trace that ground laser pin point forms, thereby guarantee that scanning strip does not produce left and right sides translation because of payload platform sidewinders motion, in order to avoid drain sweep and excessive overlapping phenomenon occur not because of move left and right takes place angle of roll deviation.
2. according to the described a kind of airborne laser radar angle of roll deviation compensation method of claim 1 based on the multiple surface rotating mirror scan mode; It is characterized in that; When payload platform angle of roll deviation is zero; Relative position between laser instrument in the airborne laser radar system, the topworks of bucking-out system, the regular polygon prism satisfies: the laser instrument emitted laser is incident on the adjustment mirror, and emergent light is radiated on the regular polygon prism, and the emergent light of adjustment mirror is the incident light of regular polygon prism; Each prism facets is equivalent to a string of regular polygon prism circumscribed circle; One section arc of the corresponding circumscribed circle of each string; When the mid point that passes this section arc when incident light was radiated on the minute surface with 45 degree incident angles, promptly minute surface and horizontal direction were miter angle, and emergent light shines on the ground straight down; Foundation is the coordinate system of initial point with regular polygon prism center; Its x axle along continuous straight runs points to the right side of payload platform heading; The y axle is directed towards ground vertically; Relative position between said adjustment mirror center and the regular polygon prism center is used the vector representation of being pointed to adjustment mirror center by initial point, is designated as
Its size is R
2, being designated as β with the angle of coordinate system x axle, the external radius of a circle of regular polygon prism is designated as r, and then the relative position between regular polygon prism center and the adjustment mirror center satisfies R
2Sin (β)=rcos (π/4).
3. according to the described a kind of airborne laser radar angle of roll deviation compensation method of claim 1 based on the multiple surface rotating mirror scan mode; It is characterized in that; When payload platform angle of roll deviation was non-vanishing, the angle that control system calculating adjustment mirror need rotate was determined by the relative position between adjustment mirror center and the regular polygon prism center and the angle of roll deviation of payload platform jointly; When payload platform sidewinders, with regular polygon prism center be the coordinate system of initial point also along with rotating together, but the relative position between regular polygon prism center and the adjustment mirror center is constant; The angle of roll deviation of payload platform is designated as θ; The angle that the adjustment mirror rotates expression with
,
tried to achieve by following equation:
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| CN105676209B (en) * | 2016-04-01 | 2023-02-24 | 山东理工大学 | Helicopter-mounted laser radar platform three-dimensional attitude angle complex vibration real-time compensation method and device |
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| CN109270552B (en) * | 2018-11-07 | 2022-12-30 | 山东理工大学 | Helicopter-mounted laser radar laser scanning attitude angle stabilizing method and device |
| CN110426709A (en) * | 2019-07-02 | 2019-11-08 | 中国航空工业集团公司雷华电子技术研究所 | A kind of space domain self-adapted scan control method of airborne weather radar |
| CN110441755A (en) * | 2019-07-24 | 2019-11-12 | 中国科学院上海光学精密机械研究所 | LDV technique is directed toward the double rotating mirror scan systems of self-stabilization |
| CN111220952A (en) * | 2020-03-16 | 2020-06-02 | 中国人民解放军63926部队 | Phased array radar area type high-precision adjusting method under large-load working condition |
| CN111220952B (en) * | 2020-03-16 | 2021-09-17 | 中国人民解放军63926部队 | Phased array radar area type high-precision adjusting method under large-load working condition |
| WO2021184476A1 (en) * | 2020-03-18 | 2021-09-23 | 陈泽雄 | Optical path system and laser radar |
| CN112394337A (en) * | 2020-11-09 | 2021-02-23 | 南京理工大学 | Laser scanning detection device and method for adaptively adjusting scanning angle |
| CN112394337B (en) * | 2020-11-09 | 2023-09-26 | 南京理工大学 | Laser scanning detection device and method capable of adaptively adjusting scanning angle |
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