CN104034511A - Detecting method for photoelectric tracking performance - Google Patents
Detecting method for photoelectric tracking performance Download PDFInfo
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Abstract
The invention discloses a detecting method for a photoelectric tracking performance, which is based on a portable detecting device. The detecting method for the photoelectric tracking performance is used for testing the indicators of tracking range, tracking speed, tracking accuracy and the like of a device to be tested. The detecting method for the photoelectric tracking performance disclosed by the invention provides a dynamic tracking target with a large range and high maneuverability for a photoelectric tracking system, and is capable of simulating the micro-vibration interference of an optic axis simultaneously; moreover, the testing system is simple in structure, easy to build and carry, and capable of being flexibly used in different occasions.
Description
Technical field:
The present invention relates to the detection technique of optoelectronic device, be specifically related to a kind of photoelectric tracking method for testing performance, can be used for the Performance Detection of the photoelectric tracking terminal in the systems such as laser space communication.
Background technology:
Electro-optical tracking device is widely used in the scenes such as two-way communication of noncooperative target tracking, cooperative target, and its tracking performance is the important indicator of system.The photoelectric tracking terminal for Space-to-ground optical communication of take under space platform is example, and it faces the complex environments such as the micro-vibration of platform, guarantees again to be therefore necessary very high tracking accuracy on ground in the face of its performance detects fully simultaneously.
The key of electro-optical tracking device being carried out to Performance Detection is the dynamic target and the working environment that is virtually reality like reality that provide suitable.It is generally acknowledged that dynamic target is divided into tracking target and measurement target drone, the former only simulates dynamic space target, the space angle of all right Accurate Measurement any time target of the latter, the measuring accuracy that is used for demarcating Devices to test.The simulation of working environment is mainly comprised to the simulation to factors such as the long-distance transmissions of the residing platform motion state of terminal, thermal environment, atmospheric turbulence, laser and far-field distribution.
Current modal photoelectric tracking method for testing performance has two kinds, and the one, rotation Bar Method, the 2nd, utilize parallel light tube to add beam deflection mechanism.Rotation Bar Method drives parallel light tube to rotate by electric rotating machine, by catoptron, forms rotation light cone, and equipment under test is positioned at light cone summit.This method is widely used, and can provide and follow the tracks of and measurement target drone, but its huge structure control complexity, and movement locus is single.Second method utilizes parallel light tube to produce directional light, in the middle of light path, adds the beam deflection mechanisms such as biprism to make light beam generation deviation, produces two dimensional motion track.The method is commonly used to the far-field distribution of simulated laser, the optical property of detection system, but its movement locus scope is less, and maneuverability is poor, abundant not to the detection of tracking performance.
The comparatively approaching method of another and the present invention is to utilize the reflection of laser beam on curtain wall as dynamic target.(referring to Zhang Bo, detect the laser analog extraterrestrial target [J] of photoelectric tracking measuring equipment. photoelectron laser, 2003,14 (3): 324-326.) this method is utilized the collimation property of laser, the laser beam directly laser instrument being produced is beaten on curtain wall, simulation space aim.Laser instrument is installed on two-axle rotating table, and turntable, by programming regular movement, forms extraterrestrial target track.Devices to test is followed the tracks of after target, according to spatial relation, calculates its pointer tracker precision.Owing to not considering the far-field distribution of light beam, the method is not used parallel light tube, thereby simple in structure, control flexibly, and the dynamic range of target trajectory is large, mobility strong.But there are following two problems in the method:
The first, cannot simulate micro-vibration interference of electro-optical tracking device platform of living in.Take spaceborne track terminal as example, and micro-vibration meeting that the motion of the momenttum wheel of satellite platform causes causes certain influence to tracking accuracy, is necessary it simulate accordingly and detect.
Second, the method for to as if photoelectric tracking measuring equipment, therefore it is using detection system as measurement target drone, utilize the angle measurement value of laser instrument turntable and the spatial relation of equipment to carry out the position true value of computer memory target, self angle when the Devices to test of usining is followed the tracks of is as measured value, thereby the pointing accuracy of Devices to test is detected.The method depends on the accurate measurement and calibration to locus, and the correct time between checkout equipment and equipment under test is synchronous, and requires the angle measurement accuracy of checkout equipment higher than equipment under test.This makes test macro be difficult to build and demarcate, and when self precision of electro-optical tracking device to be measured is higher, cannot adopt this detection method.
Summary of the invention:
The object of the invention is to propose a kind of photoelectric tracking method for testing performance, it providing on a large scale, the dynamic tracking target target of mobility strong simultaneously, micro-vibration interference that simultaneously can analog platform, has solved the problem of electro-optical tracking device being carried out to performance of dynamic tracking detection.
Device of the present invention forms as shown in Figure 1, comprise: two-dimentional target turntable 1, target turntable driver 2, target turntable is controlled computing machine 3, pitch axis working face 4, laser instrument 5, laser power supply 6, voice coil motor points to mirror 7 fast, voice coil motor driving governor 8, diffuse reflection screen 9, electro-optical tracking device 10 to be measured.
Wherein: two-dimentional target turntable 1 is double-U-shaped shelf structure, rotate respectively in orientation and two dimensions of pitching, the surface of pitch axis working face 4 has the M6 threaded hole array of pitch-row 25mm; On pitch axis working face 4, lay laser instrument 5, the emergent light axis of laser instrument 5 is parallel with pitch axis axis; Voice coil motor points to the center that mirror 7 is fixedly placed in pitch axis working face 4 fast, and its benchmark normal direction and laser emitting optical axis are 45 ° of angles, laser beam through its reflection after along the direction outgoing perpendicular to pitch axis axis; Under the effect of voice coil motor driving governor 8, voice coil motor points to fast mirror 7 and on the basis of reference direction, produces the low-angle two-dimensional deflection of high frequency, makes laser beam that small deviation occur in original direction; Laser beam is beaten on diffuse reflection screen 9 after pointing to fast mirror reflection, forms target hot spot; The center of two dimension target turntable 1 and electro-optical tracking device to be measured 10 keeps same level height, and 9 place plane parallel are shielded in the two line and diffuse reflection.
During work, two dimension target turntable 1 drives pitch axis working face 4 and the laser instrument 5 of laying and voice coil motor to point to fast mirror 7 above and rotates on a large scale at azimuth axis and pitch axis direction, make the target hot spot on diffuse reflection screen 9 produce grand movement, the relative motion between simulation dynamic target and electro-optical tracking device to be measured 10; On this basis, voice coil motor points to fast mirror 7 and carries out high frequency low-angle two-dimensional deflection, change laser beam exit direction, make the target hot spot on diffuse reflection screen 9 produce shake among a small circle, simulate the suffered micro-vibration interference of optical axis of electro-optical tracking device 10 to be measured.
In conjunction with said apparatus, detection method of the present invention is as follows:
1) following range test, concrete steps are:
1.1 make electro-optical tracking device 10 to be measured catch the laser facula on diffuse reflection screen 9;
1.2 two-dimentional target turntables 1 drive laser facula to do low speed one-way movement at azimuth axis or pitch axis direction, and electro-optical tracking device 10 to be measured is followed the tracks of laser facula;
Angle measurement when 1.3 motions when electro-optical tracking device 10 to be measured reach border and lose laser facula is the following range ultimate value that the party makes progress;
2) maximum instantaneous capture angle velocity test, concrete steps are:
2.1 make electro-optical tracking device 10 to be measured in scanning or stare trapped state;
Whether 2.2 two-dimentional target turntables 1 drive laser facula enter the scanning of electro-optical tracking device 10 to be measured or stare scope from a side, observe it and can catch moment and follow the tracks of;
2.3 increase the angular velocity of laser facula operation gradually, and the angular velocity measurement value when electro-optical tracking device 10 to be measured cannot be caught hot spot moment is the instantaneous capture angle velocity limit value that the party makes progress;
3) maximum tracking angular rate test, concrete steps are:
3.1 make electro-optical tracking device 10 to be measured catch the laser facula on diffuse reflection screen 9;
3.2 two-dimentional target turntables 1 drive laser facula to do one-way movement at azimuth axis or pitch axis direction, and electro-optical tracking device 10 to be measured is followed the tracks of laser facula;
3.3 increase the angular velocity of hot spot operation gradually, and the angular velocity measurement value when electro-optical tracking device 10 to be measured is lost hot spot is the tracking angular rate ultimate value that the party makes progress;
4) tracking bandwidth test, concrete steps are:
4.1 make electro-optical tracking device 10 to be measured catch the laser facula on diffuse reflection screen 9;
4.2 two-dimentional target turntables 1 drive laser facula according to the sinusoidal motion of certain frequency and amplitude, and electro-optical tracking device 10 to be measured is followed the tracks of laser facula;
4.3 increase sinusoidal frequency gradually, and the sinusoidal curve frequency values when electro-optical tracking device 10 to be measured is lost hot spot is its tracking bandwidth index;
5) micro-vibration interference test, concrete steps are:
5.1 make two-dimentional target turntable 1 in zero-bit position, and keep static;
5.2 open voice coil motor points to mirror 7 fast, makes it produce the small angle deflection of characteristic frequency and amplitude, and optical axis exit direction is shaken, and makes electro-optical tracking device 10 to be measured follow the tracks of laser facula;
5.3 record the tracking detector miss distance of electro-optical tracking device 10 to be measured, calculate tracking error, change the frequency of operation that voice coil motor points to mirror 7 fast, obtain the relation of tracking error and interfering frequency by sweep method;
When 5.4 amplitudes when tracking error equate with perturbation amplitude, forcing frequency is now the disturbance rejection bandwidth of electro-optical tracking device 10 to be measured;
6) tracking accuracy test, concrete steps are:
6.1 make electro-optical tracking device 10 to be measured catch the laser facula on diffuse reflection screen 9;
6.2 two-dimentional target turntables 1 drive laser facula to move according to particular track, electro-optical tracking device to be measured
6.3 follow the tracks of laser facula, and according to the miss distance index of tracking detector, calculate the tracking accuracy of electro-optical tracking device 10 to be measured, test the impact of specific relative motion on tracking accuracy;
6.4 make voice coil motor point to fast mirror 7 on the basis of the above produces the micro-vibration interference that meets certain vibration power spectrum, according to the miss distance index of tracking detector, calculate the tracking accuracy of electro-optical tracking device 10 to be measured, the impact of the micro-vibration under test certain power spectrum on tracking accuracy.
The present invention has following beneficial effect:
Laser facula on employing diffuse reflection screen is as dynamic tracking target, utilize that two-dimentional target turntable produces on a large scale, the movement locus of mobility strong, utilize voice coil motor to point to fast mirror makes light beam produce the shake of high frequency low-angle simultaneously, not only can simulate the relative motion of target and Devices to test, also can simulate micro-vibration interference of optical axis, fully test the index such as following range, tracking bandwidth, tracking accuracy of electro-optical tracking device.Due to only, using dynamic object as following the tracks of target, without the location position of test macro, time synchronized and measuring accuracy are proposed to high requirement, thereby make test system structure simple, be easy to build and carry, can under different occasions, use flexibly.
Accompanying drawing explanation:
Fig. 1 is that pick-up unit of the present invention forms schematic diagram.
In figure: 1. two-dimentional target turntable; 2. target turntable driver; 3. target turntable is controlled computing machine; 4. pitch axis working face 5. laser instruments;
6. laser power supply; 7. voice coil motor points to mirror fast;
8. voice coil motor driving governor; 9. diffuse reflection is shielded;
10. electro-optical tracking device to be measured.
Embodiment:
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail:
Using the spaceborne pointing terminal of certain star ground optical communication as Devices to test, it adopts composite shaft tracking structure: use two-dimentional turntable as rotation driving mechanism on a large scale, form thick tracker with large visual field cmos detector, for the initial acquisition of target light and pointer tracker on a large scale; Thick tracker is introduced rear light path by telescope by light beam, by piezoelectric ceramics two-dimensional deflection mirror and small field of view cmos detector, forms smart tracker, for high precision pointing and the high frequency components inhibition of light beam.
Two dimension target turntable adopts double-U-shaped shelf structure, and wherein U-shaped of pitch axis fixes the parts such as laser instrument as workplace.Azimuth axis and pitch axis all adopt stepper motor to drive, and use Renishaw circle grating to carry out position closed loop as angular measurement sensor, reach the control accuracy of rad magnitude.Azimuth axis can be within the scope of 360 ° continuous rotation, the slewing area of pitch axis is ± 90 °, is all greater than the following range index of Devices to test.By type selecting and design, guarantee that its maximum rotation angular velocity is also greater than the maximum tracking angular rate of Devices to test in addition.Laser instrument adopts 671nm red laser, and power is 100mW, and the angle of divergence is 1mrad.Voice coil motor points to fast mirror and controls the FSM series of products that driver adopts Newport company, and its range of deflection is positive and negative 1.5 °, and closed-loop bandwidth can reach 800Hz, and resolution is in urad magnitude, effectively micro-vibration interference of analog satellite platform.
Diffuse reflection screen utilizes the smooth white wall in laboratory, height 3m, width 6m, with the distance of Devices to test be 3m, testable azimuth axis angular range is 90 °, pitch axis angular range is 53 degree.
First test system building during detection, measures demarcation to the position of each equipment, and target turntable is programmed, and generates needed test curve.Detection is carried out in laboratory, should guarantee not have obvious vibration interference source, should be in darkroom environment, to prevent light disturbance when laser instrument is opened in addition.
Step according to the described method of invention detects the tracking performance of spaceborne pointing terminal.Wherein following range testing needle detects topworks's range of movement of thick tracker; The main acquisition and tracking ability of thick tracker to target that detect of maximum instantaneous capture angle velocity test and the test of maximum tracking angular rate; Tracking bandwidth test has reflected that Devices to test, to the ability to bear that significantly low frequency is disturbed, depends primarily on the dynamic property of thick tracker; Tracking accuracy test can reflect the tracking performance of thick tracker and whole equipment, and its result has directly affected the optical communication performance of terminal; Micro-vibration interference simulation test has been investigated the impact of the high frequency micro vibration of satellite platform on tracking accuracy, has mainly reflected the dynamic property of smart tracker.
Devices to test is carried out after complete detection, can whether meet index request according to the tracking performance of testing result judgment device; And can be according to it serviceability under the micro-vibration interference of analog satellite, system, control algolithm are carried out to corresponding optimization.
Claims (1)
1. a photoelectric tracking method for testing performance, it is based on including two-dimentional target turntable (1), target turntable driver (2), target turntable is controlled computing machine (3), pitch axis working face (4), laser instrument (5), laser power supply (6), voice coil motor points to mirror (7) fast, and the portable photoelectric tracking device for detecting performance of voice coil motor driving governor (8) and diffuse reflection screen (9) is realized, and it is characterized in that detection method is as follows:
1) following range test, concrete steps are:
1.1 make electro-optical tracking device to be measured (10) catch the laser facula on diffuse reflection screen (9);
1.2 two-dimentional target turntables (1) drive laser facula to do low speed one-way movement at azimuth axis or pitch axis direction, and electro-optical tracking device to be measured (10) is followed the tracks of laser facula;
Angle measurement when 1.3 motions when electro-optical tracking device to be measured (10) reach border and lose laser facula is the following range ultimate value that the party makes progress;
2) maximum instantaneous capture angle velocity test, concrete steps are:
2.1 make electro-optical tracking device to be measured (10) in scanning or stare trapped state;
Whether 2.2 two-dimentional target turntables 1 drive laser facula enter the scanning of electro-optical tracking device to be measured (10) or stare scope from a side, observe it and can catch moment and follow the tracks of;
2.3 increase the angular velocity of laser facula operation gradually, and the angular velocity measurement value when electro-optical tracking device to be measured (10) cannot be caught hot spot moment is the instantaneous capture angle velocity limit value that the party makes progress;
3) maximum tracking angular rate test, concrete steps are:
3.1 make electro-optical tracking device to be measured (10) catch the laser facula on diffuse reflection screen 9;
3.2 two-dimentional target turntables (1) drive laser facula to do one-way movement at azimuth axis or pitch axis direction, and electro-optical tracking device to be measured (10) is followed the tracks of laser facula;
3.3 increase the angular velocity of hot spot operation gradually, and the angular velocity measurement value when electro-optical tracking device to be measured (10) is lost hot spot is the tracking angular rate ultimate value that the party makes progress;
4) tracking bandwidth test, concrete steps are:
4.1 make electro-optical tracking device to be measured (10) catch the laser facula on diffuse reflection screen 9;
4.2 two-dimentional target turntables (1) drive laser facula according to the sinusoidal motion of certain frequency and amplitude, and electro-optical tracking device to be measured (10) is followed the tracks of laser facula;
4.3 increase sinusoidal frequency gradually, and the sinusoidal curve frequency values when electro-optical tracking device to be measured (10) is lost hot spot is its tracking bandwidth index;
5) micro-vibration interference test, concrete steps are:
5.1 make two-dimentional target turntable (1) in zero-bit position, and keep static;
5.2 open voice coil motor points to mirror (7) fast, makes it produce the small angle deflection of characteristic frequency and amplitude, optical axis exit direction is shaken, and make electro-optical tracking device to be measured (10) follow the tracks of laser facula;
5.3 record the tracking detector miss distance of electro-optical tracking device to be measured (10), calculate tracking error, change the frequency of operation that voice coil motor points to mirror (7) fast, obtain the relation of tracking error and interfering frequency by sweep method;
When 5.4 amplitudes when tracking error equate with perturbation amplitude, forcing frequency is now the disturbance rejection bandwidth of electro-optical tracking device to be measured (10);
6) tracking accuracy test, concrete steps are:
6.1 make electro-optical tracking device to be measured (10) catch the laser facula on diffuse reflection screen (9);
6.2 two-dimentional target turntables (1) drive laser facula to move according to particular track, electro-optical tracking device to be measured (10) is followed the tracks of laser facula, and according to the miss distance index of tracking detector, calculate the tracking accuracy of electro-optical tracking device to be measured (10), test the impact of specific relative motion on tracking accuracy;
6.3 make voice coil motor point to fast mirror (7) on the basis of the above produces the micro-vibration interference that meets certain vibration power spectrum, according to the miss distance index of tracking detector, calculate the tracking accuracy of electro-optical tracking device to be measured (10), the impact of the micro-vibration under test certain power spectrum on tracking accuracy.
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| CN110806307A (en) * | 2019-11-19 | 2020-02-18 | 中国兵器装备集团自动化研究所 | Method for rapidly detecting stability precision of photoelectric sight-stabilizing system |
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| CN114966087A (en) * | 2022-05-12 | 2022-08-30 | 中国科学院西安光学精密机械研究所 | Wide-application-range testing device for tracking angular velocity of photoelectric tracking instrument |
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