CN103592756A - Aperture-sharing light beam two-dimensional positioning tracking method and device - Google Patents
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Abstract
The invention discloses an aperture-sharing light beam two-dimensional positioning tracking method and device. By means of a single liquid crystal spatial light modulator, on the basis that light beam two-dimensional quasi-continuous deflection control is achieved, light beam high-precision tracking aiming is achieved by combination of the concept of aperture-sharing transmitting and receiving. The device comprises a laser device, a polarizer, a beam expander, a beam splitter I, a liquid crystal spatial light modulator, a beam splitter II, a pyramid prism, a lens, an image sensor and a computer. The polarizer is located in front of the beam expander and is used for generating emitting light parallel with long axes of liquid crystal molecules in a polarization mode, the image sensor and the lens are located behind the beam splitter II, the pyramid prism and the beam splitter II are combined to achieve aperture-sharing, and the beam splitter II provides position information of the emitting light. The computer and the image sensor collect and analyze information of the emitting light and return light information of a corner reflecting target in real time and feed back and regulate the liquid crystal spatial light modulator. The method solves the problems that a traditional light beam tracking aiming method is large in inertia, high in energy consumption, numerous and jumbled in structure and the like and can effectively achieve positioning tracking aiming of a laser target.
Description
Technical field
The present invention relates to a kind of aperture light beam two-dimensional localization tracking and device altogether, the optical alignment that is applicable to dynamic object in two-dimensional space is followed the tracks of, be particularly useful for closely, the hi-Fix of small angle range inner light beam, can be widely used in the fields such as closely laser radar, laser communication, target following.
Background technology
Tradition Acquisition tracking and pointing technology realizes by rotary axis and fast mirror, quick titling mirror or acousto-optic modulator etc. are as its core devices, can make light beam can realize low-angle tracking aiming, but this device of realizing pencil tracing aiming by changing optical axis direction, complex structure, precision is on the low side, energy consumption is high, and performance is subject to severely restricts.1996, Paul F. McManamon proposed a kind of novel light beam control method-optical phased array, and now widely used phase type LCD space light modulator is exactly the core devices of the method.The phase-modulation process of LCD phased array is that the porous of single hole diffraction modulation is interfered in essence, and its far-field intensity distribution is that the porous under single hole diffraction envelope is interfered.The phase place calculating by phase type LCD space light modulator being applied continuously to the principle of being interfered by porous can realize the continuous sweep of light beam two dimension in certain field range.
The concept in ,Gong aperture, separated aperture derives from adaptive optics.Separated aperture sending and receiving apparatus is easily realized, but mainly has three aspects: impact: the one, and structure is not compact; The 2nd, quality is large; The 3rd, easily introduce parallax.The theory in aperture can above-mentioned three problems of fine solution altogether to adopt utilizing emitted light and reception light.
At present, at aspects such as LCD phased array beam deflection efficiency, deflection angle, response time, control optimized algorithms, constituent parts is all to have obtained larger progress both at home and abroad.But LCD space light modulator is not widely used in fields such as laser communications.On the other hand, mostly aperture is the Wavefront detecting for adaptive optics as a kind of means altogether, and the technology that aperture and other field combine is altogether rare report also.In addition, there is no at present LCD space light modulator and see report in conjunction with the method that theory realization in aperture aims at the pencil tracing of noncooperative target altogether.
Summary of the invention
In order to solve the problem that existing techniques in realizing light beam precision is followed the tracks of and target localization exists, the invention provides a kind of based on the quasi-continuous deflection of single liquid crystal spatial light modulator light beam control and altogether aperture theory combine, thereby realize, light beam precision is followed the tracks of and method and the device of object space location.The present invention utilizes single liquid crystal spatial light modulator, realizing on the basis of the quasi-continuous deflection control of light beam two dimension, in conjunction with the theory that is total to Received in Common Aperture, realizes light beam high precision tracking and aims at (as shown in Figure 1).
Technical solution of the present invention is:
An aperture light beam two-dimensional localization tracking means, comprises laser instrument 1, the polarizer 2, beam expander 3, beam splitter I 4, LCD space light modulator 5, beam splitter II 6, prism of corner cube 7, lens 8, imageing sensor 9, computing machine 10, wherein, after the polarizer 2 is positioned at laser instrument 1, for generation of polarization parallel in the utilizing emitted light of long axis of liquid crystal molecule; After beam expander 3 is positioned at the polarizer 2; After beam splitter I 4 is positioned at beam expander 3; LCD space light modulator 5 is positioned at beam splitter I 4 one end, for realizing beam direction transmitting; Beam splitter II 6 is positioned at beam splitter I 4 other ends, and putting position and LCD space light modulator 5 positions are 180 degree angles; Prism of corner cube 7 is positioned at one end of beam splitter II 6; Lens 8 are positioned at the other end of beam splitter II 6, and putting position and prism of corner cube 7 are an angle of 90 degrees; Corner reflection target 11 is placed on one end of beam splitter II 6, is 180 degree angles with lens 8; After imageing sensor 9 and computing machine 10 are positioned at lens 8, for Real-time Collection, analyze the positional information of light echo and the transmitting light beam of corner reflection target 11, control LCD space light modulator and realize beam direction.
It is indispensable that imageing sensor 9 in the present invention and computing machine 10 are made back-ray detection receiving device, controls LCD space light modulator 5 simultaneously and realize beam direction deflection.The basic module that beam splitter II 6 and prism of corner cube 7 are total to aperture as realization is indispensable, and prism of corner cube can reflect utilizing emitted light in former road, can be whole system utilizing emitted light positional information is provided.
The present invention relates to a kind of aperture light beam two-dimensional localization tracking altogether, the method comprises the following steps:
1., the laser of laser instrument 1 transmitting is parallel to long axis of liquid crystal molecule direction through polarizer 2(polarization direction) after, through beam expander, realize beam expander, impinge perpendicularly on the not LCD space light modulator 5 of on-load voltage.The imaging system that imageing sensor 9 and computing machine 10 form is collection analysis launch spot initial position and target light echo information simultaneously: part utilizing emitted light, after beam splitter II 6, shines corner reflection target 11 and produces light echo information; Part utilizing emitted light is after beam splitter II 6, by form initial transmissions optical position information after prism of corner cube 7 on imageing sensor.
2., view data processes, and due to what obtain on imageing sensor, may be two and varies in size, the hot spot that intensity is different, by the method for filtering and threshold value, obtains respectively the centroid position information of launch spot and light spot received.Centroid computing method is shown below:
In formula
with
be respectively the centroid position of hot spot,
,
with
be respectively imageing sensor list pixel
corresponding position coordinates and gray-scale value.Similarly, record
,
be
the inferior launch spot centroid position that needs realization, when light beam shines target, note
,
be
the centroid position of inferior light echo.
4., according to deviation of mass center, calculate the phase information that need to apply in LCD space light modulator.
In formula
the size of the upper pixel of CCD representing,
be expressed as the distance between image-position sensor 9 and lens 8.
with
the position angle and the angle of pitch that represent respectively deflection.The principle of interfering according to porous, calculates the phase place that need to apply in LCD space light modulator and is
In formula
the sequence number that represents dispersive electrode in LCD space light modulator horizontal dimensions,
represent LCD phased array the
nall electrodes of row,
represent the deflection angle generating
the transformation of ownership of phase place screen matrix,
the incident light wave length of LCD space light modulator,
represent electrode size,
represent
2 πbackrush,
expression normalizes to the phase place screen matrix of generation in LCD space light modulator tonal range,
be the phase place being finally carried in LCD space light modulator.By said process we can realize utilizing emitted light within the scope of maximum field of view towards (
,
) orientation for place deflection.
5., based on said process, utilize LCD space light modulator to realize quasi-continuous beam flying in certain field range.When utilizing emitted light run-home, because target light echo can form second hot spot, i.e. target facula information on imageing sensor.Can be calculated
,
.Now can obtain target angle position information (
,
)
Then by the method based on light intensity optimization, realize the final location of light beam to extraterrestrial target.Method based on light intensity optimization mainly can adopt two kinds, and a kind of is by phase place being revised to the final location of realize target, also has a kind ofly by random paralleling gradient algorithm realize target, finally to locate exactly.
By the method that phase place is revised: when target produces light echo, passing threshold filtering calculate now the angle position information of target (
,
), by the angular range of prior setting
with angle sweep step-length, (
,
) carry out light beam two-dimensional scan in scope, record each time filtered target light echo information on image processor, obtain target light echo light intensity, wherein the corresponding angle position information of largest light intensity be final target angular position information (
,
).
By stochastic parallel gradient descent (Stochastic Parallel Gradient Descent:SPGD) algorithm realize target, finally locate: SPGD algorithm is a kind of effective gradient estimation algorithm, the method is generally usingd Beam Wave-Front phase place as control signal, using validity function as controlling foundation, control signal on phase corrector is for controlling parameter, then utilize and control the parallel small sample perturbations that applies forward and negative sense of parameter, obtain respectively corresponding validity function, utilize afterwards the variation of twice disturbance size and evaluation function value to carry out gradient estimation to control object, utilize afterwards gradient to estimate to upgrade control parameter according to certain mode, and iterate, until control object reaches optimum, thereby realize optimal control.In the detailed process by the final location of SPGD algorithm realize target, choose LCD space light modulator as phase controller, then only produce slanted phase disturbance, selection around energy (Encircled Energy:EE) as evaluation function, finally, when evaluation function meets convergence, can by target light echo information now calculate final target angular position information (
,
).
Above-mentioned two kinds of methods can both realize the angle position information of high-acruracy survey final goal facula position.
6., consider the tracing process of moving target, utilize above-mentioned steps 1-5 constantly to repeat, realize the obtaining of moving target angle position information, control transmitting light beam moving target is aimed in real time.
The invention provides a kind of novel aperture light beam two-dimensional deflection tracking means altogether, comprise laser instrument 1, the polarizer 2, beam expander 3, beam splitter I 4, LCD space light modulator 5, beam splitter II 6, prism of corner cube 7, lens 8, imageing sensor 9, computing machine 10.Wherein the polarizer 2 is positioned at before beam expander 3 for generation of polarization parallel in the utilizing emitted light of long axis of liquid crystal molecule; After imageing sensor 9 and lens 8 are positioned at beam splitter II 6, for gather utilizing emitted light positional information and target light echo information simultaneously; Prism of corner cube 7 and 6 combinations of beam splitter II realize aperture altogether, and beam splitter II provides utilizing emitted light positional information, and LCD space light modulator 5 realizes utilizing emitted light and receives the common aperture of light.Computing machine and imageing sensor can be analyzed utilizing emitted light and corner reflection target 11 light echo information, feedback regulation LCD space light modulator by Real-time Collection.
adopt the present invention can reach following technique effect:
1, the present invention is on the basis of the quasi-continuous deflection technique of light beam two dimension, in conjunction with being total to aperture theory, new method and the device that a kind of light beam two dimension directed tracing aims at proposed, the problems such as in conventional beam tracking aiming method, inertia is large, energy consumption is high, structure is numerous and jumbled have been overcome, a kind of reliable method of realize target angle position information measurement is provided, and can have effectively realized the location tracking aiming of laser eyepiece.
2, the present invention is applied widely, can be widely used in the fields such as laser radar, laser communication, target following, working environment and instrument and equipment are not had to specific (special) requirements, do not need complicated follow-up data processing procedure, both can realize the measurement of optional position target angular position information in certain field range, and also can realize the target in certain field range is carried out to tracking aiming effectively.
3, system architecture of the present invention is simple, and portability and integrated level are higher.
4, the equal cocoa of all devices of the present invention adopts ripe commercially produced product, is easy to promote.
Accompanying drawing explanation
Fig. 1 apparatus of the present invention structure principle chart,
Fig. 2 porous diffraction is realized the quasi-continuous deflection of light beam, hot spot Two dimensional Distribution schematic diagram,
PHASE DISTRIBUTION schematic diagram after Fig. 3 horizontal dimensions and vertically dimension both direction Phase Stacking,
Fig. 4 light beam is quasi-continuous scanning and the principle schematic of finding object procedure in the certain field range in space.
Embodiment
An aperture light beam two-dimensional localization tracking means, comprises laser instrument 1, the polarizer 2, beam expander 3, beam splitter I 4, LCD space light modulator 5, beam splitter II 6, prism of corner cube 7, lens 8, imageing sensor 9, computing machine 10, wherein, after the polarizer 2 is positioned at laser instrument 1, for generation of polarization parallel in the utilizing emitted light of long axis of liquid crystal molecule; After beam expander 3 is positioned at the polarizer 2; After beam splitter I 4 is positioned at beam expander 3; LCD space light modulator 5 is positioned at beam splitter I 4 one end, for realizing beam direction transmitting; Beam splitter II 6 is positioned at beam splitter I 4 other ends, and putting position and LCD space light modulator 5 positions are 180 degree angles; Prism of corner cube 7 is positioned at one end of beam splitter II 6; Lens 8 are positioned at the other end of beam splitter II 6, and putting position and prism of corner cube 7 are an angle of 90 degrees; Corner reflection target 11 is placed on one end of beam splitter II 6, is 180 degree angles with lens 8; After imageing sensor 9 and computing machine 10 are positioned at lens 8, for Real-time Collection, analyze the positional information of light echo and the transmitting light beam of corner reflection target 11, control LCD space light modulator and realize beam direction.
The principle of work of whole system as shown in Figure 1.
Its concrete course of work is:
1, according to building as shown in Figure 1 system, in LCD space light modulator, do not produce under the prerequisite of any phase-modulation and carry out system adjusting, guarantee that the light echo after far field target's center far field is by Ear Mucosa Treated by He Ne Laser Irradiation overlaps with the facula position that corner reflector produces, now illustrative system is adjusted, and can carry out work.
2, moving target, to optional position within the scope of beam deflection, now can obtain the information that imageing sensor gathers, when not being irradiated to target, can obtain utilizing emitted light positional information (
,
); When target produces light echo, can utilize threshold filter obtain respectively utilizing emitted light positional information (
,
) and target position information (
,
), in such cases, can utilize 5. method obtain final goal angle position information (
,
).
3, only obtaining under the prerequisite of utilizing emitted light position, process in can utilizing 4., applies phase diagram to LCD space light modulator, according to the mode shown in Fig. 4, two-dimentional light beam scanning is carried out in space, when producing heliogram, stop scanning process, calculate target angular position information now (
,
), now just can utilize 5. method obtain final goal angle position information (
,
).The beam deflection angle of realizing meets following formula:
In formula, each phy symbol meaning is same as above.The facula information of utilizing step 5. to obtain, can obtain the final goal angle position information after optimization, has now also realized the aiming of light beam to target.Utilizing step 6. can realize aims at the Continuous Tracking of target.
Claims (5)
1. one kind is total to aperture light beam two-dimensional localization tracking means, comprise laser instrument (1), the polarizer (2), beam expander (3), beam splitter I (4), LCD space light modulator (5), beam splitter II (6), prism of corner cube (7), lens (8), imageing sensor (9), computing machine (10), it is characterized in that, the polarizer (2) is positioned at laser instrument (1) afterwards, for generation of polarization parallel in the utilizing emitted light of long axis of liquid crystal molecule; Beam expander (3) is positioned at the polarizer (2) afterwards; Beam splitter I (4) is positioned at beam expander (3) afterwards; LCD space light modulator (5) is positioned at beam splitter I (4) one end, for realizing beam direction transmitting; Beam splitter II (6) is positioned at beam splitter I (4) other end, and putting position and LCD space light modulator (5) position is 180 degree angles; Prism of corner cube (7) is positioned at one end of beam splitter II (6); Lens (8) are positioned at the other end of beam splitter II, and putting position and prism of corner cube are an angle of 90 degrees; Corner reflection target (11) is placed on one end of beam splitter II, is 180 degree angles with lens (8); Imageing sensor (9) and computing machine (10) are positioned at lens (8) afterwards, analyze the positional information of light echo and the transmitting light beam of corner reflection target (11) for Real-time Collection, control LCD space light modulator and realize beam direction.
2. be total to an aperture light beam two-dimensional localization tracking, it is characterized in that, comprise the following steps:
1., the laser of laser instrument (1) transmitting is after the polarizer (2), through beam expander (3), realize beam expander, impinge perpendicularly on the not LCD space light modulator of on-load voltage (5), the imaging system that imageing sensor (9) and computing machine (10) form is collection analysis launch spot initial position and target light echo information simultaneously: part utilizing emitted light, after beam splitter II (6), shines corner reflection target (11) and produces light echo information; Part utilizing emitted light is after beam splitter II (6), by form initial transmissions optical position information after prism of corner cube (7) on imageing sensor;
2., view data processes, and due to what obtain on imageing sensor, may be two and varies in size, the hot spot that intensity is different, by the method for filtering and threshold value, obtains respectively the centroid position information of launch spot and light spot received, centroid computing method is shown below:
In formula
with
be respectively the centroid position of hot spot,
,
with
be respectively imageing sensor list pixel
corresponding position coordinates and gray-scale value;
4., according to deviation of mass center, calculate the phase information that need to apply in LCD space light modulator;
In formula
the size of the upper pixel of CCD representing,
be expressed as the distance between image-position sensor (9) and lens (8),
with
the position angle and the angle of pitch that represent respectively deflection, the principle of interfering according to porous, calculates the phase place that need to apply in LCD space light modulator and is
In formula
the sequence number that represents dispersive electrode in LCD space light modulator horizontal dimensions,
represent LCD phased array the
nall electrodes of row,
represent the deflection angle generating
the transformation of ownership of phase place screen matrix,
the incident light wave length of LCD space light modulator,
represent electrode size,
represent
2 πbackrush,
expression normalizes to the phase place screen matrix of generation in LCD space light modulator tonal range,
be the phase place being finally carried in LCD space light modulator, by said process realize utilizing emitted light within the scope of maximum field of view towards (
,
) orientation for place deflection;
5., based on said process, utilize LCD space light modulator to realize quasi-continuous beam flying in certain field range, when utilizing emitted light run-home, because target light echo can form second hot spot on imageing sensor, target facula information, can be calculated
,
,
Now can obtain target angle position information (
,
)
Then by the method based on light intensity optimization, realize the final location of light beam to extraterrestrial target;
6., consider the tracing process of moving target, utilize above-mentioned steps 1-5 constantly to repeat, realize the obtaining of moving target angle position information, control transmitting light beam moving target is aimed in real time.
3. a kind of altogether aperture according to claim 2 light beam two-dimensional localization tracking, it is characterized in that, the described method based on light intensity optimization can adopt two kinds, by phase place being revised to a final location for realize target, also having a kind of is finally to locate by random paralleling gradient algorithm realize target.
4. a kind of altogether aperture according to claim 3 light beam two-dimensional localization tracking, it is characterized in that, described by the method that phase place is revised, be specially: when target produces light echo, passing threshold filtering calculate now the angle position information of target (
,
), by the angular range of setting
with angle sweep step-length, (
,
) carry out light beam two-dimensional scan in scope, record each time filtered target light echo information on image processor, obtain target light echo light intensity, wherein the corresponding angle position information of largest light intensity be final target angular position information (
,
).
5. a kind of altogether aperture according to claim 3 light beam two-dimensional localization tracking, it is characterized in that, describedly by random paralleling gradient descent algorithm realize target, finally locate, be specially: using Beam Wave-Front phase place as control signal, using validity function as controlling foundation, control signal on phase corrector is for controlling parameter, then utilize and control the parallel small sample perturbations that applies forward and negative sense of parameter, obtain respectively corresponding validity function, utilize afterwards the variation of twice disturbance size and evaluation function value to carry out gradient estimation to control object, utilize afterwards gradient to estimate to upgrade control parameter according to certain mode, and iterate, until control object reaches optimum, thereby realize optimal control, choose LCD space light modulator as phase controller, then only produce slanted phase disturbance, selection around energy as evaluation function, finally, when evaluation function meets convergence, by target light echo information now calculate final target angular position information (
,
).
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| CN107219622A (en) * | 2017-05-18 | 2017-09-29 | 中国科学院长春光学精密机械与物理研究所 | Optical search tracking telescope based on interference detection technology |
| CN108319091A (en) * | 2018-04-10 | 2018-07-24 | 中国人民解放军国防科技大学 | Target in-loop laser phased array system and control method |
| CN110289907A (en) * | 2019-07-10 | 2019-09-27 | 中国科学院长春光学精密机械与物理研究所 | Laser communications method and system based on two-dimensional laser phased array |
| CN112595231A (en) * | 2020-12-10 | 2021-04-02 | 上海镭隆科技发展有限公司 | Two-dimensional follow-up system dynamic monitoring device and method based on intelligent image recognition |
| CN113155755A (en) * | 2021-03-31 | 2021-07-23 | 中国科学院长春光学精密机械与物理研究所 | On-line calibration method for micro-lens array type imaging spectrometer |
| CN113155755B (en) * | 2021-03-31 | 2022-05-24 | 中国科学院长春光学精密机械与物理研究所 | On-line calibration method for micro-lens array type imaging spectrometer |
| CN113359871A (en) * | 2021-06-29 | 2021-09-07 | 中国科学院光电技术研究所 | Fixed-point closed-loop method based on double-prism rotating device |
| CN113359871B (en) * | 2021-06-29 | 2022-08-23 | 中国科学院光电技术研究所 | Fixed-point closed-loop method based on double-prism rotating device |
| CN117220775A (en) * | 2023-11-07 | 2023-12-12 | 长春理工大学 | Multipath laser communication device, system, method and electronic equipment |
| CN117220775B (en) * | 2023-11-07 | 2024-02-02 | 长春理工大学 | Multipath laser communication device, system, method and electronic equipment |
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