CN104034511B - A kind of photoelectric tracking method for testing performance - Google Patents
A kind of photoelectric tracking method for testing performance Download PDFInfo
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Abstract
The invention discloses a kind of based on can the photoelectric tracking method for testing performance of portable detecting device.Following range, the index such as tracking velocity and tracking accuracy of its device under test are tested.The present invention is that photoelectric follow-up provides on a large scale, the dynamic tracking target of mobility strong, can simulate micro-vibration interference of optical axis simultaneously, and test system structure is simple, is easy to build and carry, can uses flexibly under different occasion.
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 noncooperative target is followed the tracks of, the two-way communication of cooperative target, and its tracking performance is the important indicator of system.For the photoelectric tracking terminal for Space-to-ground optical communication under space platform, it faces the complex environments such as the micro-vibration of platform, ensures very high tracking accuracy again simultaneously, is therefore necessary on ground in the face of its performance detects fully.
The key of electro-optical tracking device being carried out to Performance Detection is to provide suitable dynamic target and working environment that is virtually reality like reality.It is generally acknowledged that dynamic target is divided into and follow the tracks of target and measurement target drone, the former only simulates dynamic space target, and the latter can also the space angle of Accurate Measurement any time target, is used for demarcating the measuring accuracy of Devices to test.The simulation of working environment is mainly comprised to the simulation of the factor such as long-distance transmissions and far-field distribution to the Platform movement state residing for terminal, thermal environment, atmospheric turbulence, laser.
Current modal photoelectric tracking method for testing performance has two kinds, and one is rotate Bar Method, and two is utilize parallel light tube to add beam deflection mechanism.Rotating Bar Method drives parallel light tube to rotate by electric rotating machine, and formed by catoptron and rotate light cone, equipment under test is positioned at light cone summit.This method is widely used, and can provide tracking and measurement target drone, but its huge structure, control complicated, and movement locus is single.Second method utilizes parallel light tube to produce directional light, adds the beam deflection mechanisms such as biprism and make light beam generation deviation in the optical path, 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 close method of another and the present invention be utilize laser beam on curtain wall reflection as dynamic target.(see Zhang Bo, detect the laser analog extraterrestrial target [J] of photoelectric tracking measuring equipment. optoelectronic laser, 2003,14 (3): 324-326.) this method utilizes the collimation property of laser, directly the laser beam that laser instrument produces 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 calculates its pointer tracker precision according to spatial relation after following the tracks of target.Owing to not considering the far-field distribution of light beam, the method does not use parallel light tube, and thus structure is simple, controls flexibly, and the dynamic range of target trajectory is large, mobility strong.But there is following two problems in the method:
The first, cannot simulate micro-vibration interference of platform residing for electro-optical tracking device.For spaceborne track terminal, micro-vibration that the momenttum wheel motion of satellite platform causes can cause certain influence to tracking accuracy, is necessary to simulate accordingly it and detect.
Second, the method for as if photoelectric tracking measuring equipment, therefore it using detection system as measurement target drone, namely the angle measurement value of laser instrument turntable and the spatial relation of equipment is utilized to carry out the position true value of computer memory target, self-view when following the tracks of using Devices to test is as measured value, thus the pointing accuracy of device under test detects.The method depends on the accurate measurement and calibration to locus, and correct time between checkout equipment and equipment under test is synchronous, and requires that the angle measurement accuracy of checkout equipment is higher than equipment under test.This makes test macro be difficult to build and demarcate, and cannot adopt this detection method when self precision of electro-optical tracking device to be measured is higher.
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, simultaneously can micro-vibration interference of analog platform, solve the problem of electro-optical tracking device being carried out to performance of dynamic tracking detection.
Device of the present invention is formed as shown in Figure 1, comprise: two-dimensional target turntable 1, target turntable driver 2, target turntable control computer 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-dimensional target turntable 1 is double-U-shaped shelf structure, rotate in orientation and pitching two dimensions respectively, the surface of pitch axis working face 4 has the M6 threaded hole array of pitch-row 25mm; Pitch axis working face 4 is laid laser instrument 5, the emergent light axis of laser instrument 5 and pitch axis axis being parallel; 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 mirror 7 fast on the basis of reference direction, produces the low-angle two-dimensional deflection of high frequency, makes laser beam, on original direction, small deviation occur; Laser beam is beaten on diffuse reflection screen 9 by pointing to fast after mirror reflects, and forms target hot spot; The center of two-dimensional target turntable 1 and electro-optical tracking device to be measured 10 keeps same level height, and the two line and diffuse reflection to shield 9 place planes parallel.
During work, two-dimensional target turntable 1 drives pitch axis working face 4 and the laser instrument 5 laid and voice coil motor to point to mirror 7 fast above to carry out large rotation at azimuth axis and pitch axis direction, the target hot spot that diffuse reflection is shielded on 9 is made to 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 mirror 7 fast and carries out high frequency low-angle two-dimensional deflection, change laser beam exits direction, the diffuse reflection target hot spot shielded on 9 is produced and shakes among a small circle, simulate the micro-vibration interference suffered by 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 diffuse reflection screen 9 on laser facula;
1.2 two-dimensional 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 follows the tracks of laser facula;
1.3 angle measurement when the motion of electro-optical tracking device 10 to be measured reaches border and loses laser facula are the party's following range ultimate value upwards;
2) maximum instantaneous capture angle velocity test, concrete steps are:
2.1 make electro-optical tracking device 10 to be measured be in scanning or stare trapped state;
Whether 2.2 two-dimensional target turntables 1 drive laser facula enter the scanning of electro-optical tracking device 10 to be measured from side or stare scope, observe it and can catch instantaneously and follow the tracks of;
2.3 gradually increase laser facula run angular velocity, the angular velocity measurement value when electro-optical tracking device 10 to be measured cannot catch hot spot is instantaneously the party's instantaneous capture angle limitation upwards;
3) maximum tracking angular rate test, concrete steps are:
3.1 make electro-optical tracking device 10 to be measured catch diffuse reflection screen 9 on laser facula;
3.2 two-dimensional 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 follows the tracks of laser facula;
3.3 gradually increase hot spot run angular velocity, the angular velocity measurement value when electro-optical tracking device 10 to be measured loses hot spot is the party's tracking angular rate ultimate value upwards;
4) tracking bandwidth test, concrete steps are:
4.1 make electro-optical tracking device 10 to be measured catch diffuse reflection screen 9 on laser facula;
4.2 two-dimensional 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 follows 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 loses hot spot is its tracking bandwidth index;
5) micro-vibration interference test, concrete steps are:
5.1 make two-dimensional target turntable 1 be in null positions, 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 makes electro-optical tracking device 10 to be measured follow the tracks of laser facula;
The 5.3 tracking detector miss distances recording 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, are obtained the relation of tracking error and interfering frequency by sweep method;
5.4 when the amplitude of tracking error is equal with perturbation amplitude, and 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 diffuse reflection screen 9 on laser facula;
6.2 two-dimensional 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 the miss distance index of foundation tracking detector calculates the tracking accuracy of electro-optical tracking device 10 to be measured, tests the impact of specific relative motion on tracking accuracy;
6.4 make voice coil motor point to mirror 7 fast on the basis of the above produces the micro-vibration interference meeting certain vibration power spectrum, miss distance index according to tracking detector calculates the tracking accuracy of electro-optical tracking device 10 to be measured, and the micro-vibration under test certain power spectrum is on the impact of tracking accuracy.
The present invention has following beneficial effect:
Laser facula on employing diffuse reflection screen is as dynamically following the tracks of target, utilize that two-dimensional target turntable produces on a large scale, the movement locus of mobility strong, utilize voice coil motor to point to mirror fast 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 indexs such as the following range of electro-optical tracking device, tracking bandwidth, tracking accuracy.Due to only using dynamic object as tracking target, propose high requirement without the need to the location position to test macro, time synchronized and measuring accuracy, thus make test system structure simple, be easy to build and carry, can use flexibly under different occasion.
Accompanying drawing illustrates:
Fig. 1 is that pick-up unit of the present invention forms schematic diagram.
In figure: 1. two-dimensional target turntable; 2. target turntable driver; 3. target turntable control computer; 4. pitch axis working face 5. laser instrument;
6. laser power supply; 7. voice coil motor points to mirror fast;
8. voice coil motor driving governor; 9. diffuse reflection screen;
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 compound axis tracking structure: use dimensional turntable as large rotation topworks, rough tracking system is formed, for initial acquisition and the pointer tracker on a large scale of target light with Large visual angle cmos detector; Light beam is introduced rear light path by telescope by rough tracking system, forms smart tracker by piezoelectric ceramics two-dimensional deflection mirror and small field of view cmos detector, for high precision pointing and the high frequency components suppression of light beam.
Two-dimensional target turntable adopts double-U-shaped shelf structure, and wherein the U-shaped frame of pitch axis fixes the parts such as laser instrument as workplace.Azimuth axis and pitch axis all adopt driving stepper motor, and use Renishaw Circular gratings to carry out position closed loop as angular measurement sensor, reach the control accuracy of rad magnitude.Azimuth axis can 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.Ensure that its maximum rotation angular velocity is also greater than the maximum tracking angular rate of Devices to test additionally by type selecting and design.Laser instrument adopts 671nm red laser, and power is 100mW, and the angle of divergence is 1mrad.Voice coil motor points to the FSM series of products that mirror and control and drive system thereof adopt Newport company fast, and its range of deflection is positive and negative 1.5 °, and closed-loop bandwidth can reach 800Hz, and resolution, can micro-vibration interference of effective analog satellite platform in urad magnitude.
Diffuse reflection screen utilizes the smooth white wall in laboratory, and height 3m, width 6m, be 3m with the distance of Devices to test, testable azimuth axis angular range is 90 °, and pitch axis angular range is 53 degree.
Should first test system building during detection, measurement is carried out to the position of each equipment and demarcates, and target turntable is programmed, the test curve required for generation.Detect and carry out in laboratory, should guarantee there is no obvious vibration interference source, when laser instrument is opened in addition, should dark room conditions be in, to prevent light disturbance.
Detect according to the tracking performance of step to spaceborne pointing terminal of the described method of invention.Wherein the topworks range of movement of following range testing needle to rough tracking system detects; Maximum instantaneous capture angle velocity test and the main rough tracking system that detects of maximum tracking angular rate test are to the acquisition and tracking ability of target; Tracking bandwidth test reflects the ability to bear of Devices to test to significantly low frequency interference, depends primarily on the dynamic property of rough tracking system; Tracking accuracy test can reflect the tracking performance of rough tracking system and whole equipment, and its result directly affects the optical communication performance of terminal; Micro-vibration interference simulation test has then investigated the impact of high frequency micro vibration on tracking accuracy of satellite platform, mainly reflects the dynamic property of smart tracker.
After device under test carries out complete detection, whether can meet index request according to the tracking performance of testing result judgment device; And according to its serviceability under the micro-vibration interference of analog satellite, corresponding optimization can be carried out to system, control algolithm.
Claims (1)
1. a photoelectric tracking method for testing performance, it is based on including two-dimensional target turntable (1), target turntable driver (2), target turntable control computer (3), pitch axis working face (4), laser instrument (5), laser power supply (6), voice coil motor points to mirror (7) fast, the portable photoelectric tracking device for detecting performance realization of (9) is shielded in voice coil motor driving governor (8) and diffuse reflection, 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 diffuse reflection screen (9) on laser facula;
1.2 two-dimensional 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) follows the tracks of laser facula;
1.3 angle measurement when the motion of electro-optical tracking device to be measured (10) reaches border and loses laser facula are the party's following range ultimate value upwards;
2) maximum instantaneous capture angle velocity test, concrete steps are:
2.1 make electro-optical tracking device to be measured (10) be in scanning or stare trapped state;
Whether 2.2 two-dimensional target turntables (1) drive laser facula enter the scanning of electro-optical tracking device to be measured (10) from side or stare scope, observe it and can catch instantaneously and follow the tracks of;
2.3 gradually increase laser facula run angular velocity, the angular velocity measurement value when electro-optical tracking device to be measured (10) cannot catch hot spot is instantaneously the instantaneous capture angle limitation on azimuth axis or pitch axis direction;
3) maximum tracking angular rate test, concrete steps are:
3.1 make electro-optical tracking device to be measured (10) catch diffuse reflection screen (9) on laser facula;
3.2 two-dimensional 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) follows the tracks of laser facula;
3.3 gradually increase hot spot run angular velocity, when electro-optical tracking device to be measured (10) lose hot spot time angular velocity measurement value be the party's tracking angular rate ultimate value upwards;
4) tracking bandwidth test, concrete steps are:
4.1 make electro-optical tracking device to be measured (10) catch diffuse reflection screen (9) on laser facula;
4.2 two-dimensional target turntables (1) drive laser faculas according to the sinusoidal motion of certain frequency and amplitude, and electro-optical tracking device to be measured (10) follows 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) loses hot spot is its tracking bandwidth index;
5) micro-vibration interference test, concrete steps are:
5.1 make two-dimensional target turntable (1) be in null positions, 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;
The 5.3 tracking detector miss distances recording 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, are obtained the relation of tracking error and interfering frequency by sweep method;
5.4 when the amplitude of tracking error is equal with perturbation amplitude, and 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 diffuse reflection screen (9) on laser facula;
6.2 two-dimensional target turntables (1) drive laser facula to move according to particular track, electro-optical tracking device to be measured (10) follows the tracks of laser facula, and the miss distance index of foundation tracking detector calculates the tracking accuracy of electro-optical tracking device to be measured (10), tests the impact of specific relative motion on tracking accuracy;
6.3 make voice coil motor point to mirror (7) fast produces the micro-vibration interference meeting certain vibration power spectrum, miss distance index according to tracking detector calculates the tracking accuracy of electro-optical tracking device to be measured (10), and the micro-vibration under test certain power spectrum is on the impact of tracking accuracy.
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| CN113048916B (en) * | 2021-03-16 | 2022-07-12 | 西安应用光学研究所 | Dynamic target simulation source for measuring tracking precision of photoelectric tracking and aiming instrument |
| 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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