CN104267390B - Spaceborne anemometry laser radar system angle of lag compensation device and precision correcting method - Google Patents
Spaceborne anemometry laser radar system angle of lag compensation device and precision correcting method Download PDFInfo
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- CN104267390B CN104267390B CN201410507605.XA CN201410507605A CN104267390B CN 104267390 B CN104267390 B CN 104267390B CN 201410507605 A CN201410507605 A CN 201410507605A CN 104267390 B CN104267390 B CN 104267390B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to a kind of satellite-bone laser radar wind measuring system angle of lag compensation device and precision correcting method, belong to field of measuring technique.After angle of lag compensating module in apparatus of the present invention is positioned at double telescope scanning optics；When system worked well, echo laser, transmits to ancillary equipment after angle of lag compensating module compensates to angle of lag compensating module through double telescope scanning optics transmission；When carrying out angle of lag compensation precision correction, removable plug-in type reflecting mirror is positioned in the light path after angle of lag compensating module, and beam expanding lens is positioned over the side of removable plug-in type reflecting mirror and is positioned at the front end of face battle array photodetector；The input of the output termination control signal processing module of face battle array photodetector；The input of the output termination angle of lag compensating module of control signal processing module.The one spaceborne anemometry laser radar system angle of lag compensation device that the present invention relates to and precision correcting method, have offset angle the most adjustable, and the detection of available closed loop carries out the advantages such as accurate correction.
Description
Technical field
The present invention relates to a kind of angle of lag compensation device and precision correcting method, spaceborne particularly to one
Laser radar wind measuring system angle of lag compensation device and precision correcting method, belong to field of measuring technique.
Background technology
Laser-Doppler windfinding radar is the one utilizing the Doppler effect of light to measure atmospheric wind speed
Technology.It the echo containing wind speed information is carried out from local oscillator light heterodyne beat so that calculate different away from
From the wind speed at place, there is highly sensitive, velocity accuracy high, clear-air turbulence can be measured, wind is cut
Change, aircraft trace eddy current etc., at weather forecast, environmental monitoring, Aero-Space, remote sensing remote measurement, gas
As the fields such as observation have broad application prospects.The orbit altitude of satellite reaches several hundred kilometers, launches and swashs
Past to target of the time delay of Millisecond, i.e. laser pulse is there is between echo-signal in light to receiving
Return the time.For receiving and dispatching coaxial laser radar, the high-speed motion of satellite platform can make telescopical light
Axle produces drift angle, referred to as an angle of lag in the moment receiving signal relative to the moment of Laser emission.
For spaceborne anemometry laser radar, although each system its form difference, but according to sensing point position
Putting and the information such as platform movement velocity and height, angle of lag produced by radar system all can be calculated,
I.e. angle of lag is regarded as known.The existence of angle of lag can reduce the receiving efficiency of laser radar, by
The faintest in echo-signal, so the compensation of angle of lag must be carried out, improve receiving efficiency.
Anemometry laser radar needs the air speed data of at least two orientation detection, carries out Vector modulation,
The wind speed and direction information on ground can be obtained.In the anemometry laser radar system seen in disclosed document
System, launches and receiving portion major part uses single telescope and scanning monitor, and the effect of scanning mirror is
In the direction (angular velocity of scanning mirror is uniform rotation) of different time changing light, make laser radar
Same point of measuring can be carried out the wind speed detection of multiple directions, thus obtain the side of this measurement point wind
To and wind speed.For there being the anemometry laser radar system of scanning mirror, produce in echo beam angle of lag
Scanning mirror can turn to a certain position simultaneously, and the echo optical position eventually entering into internal system can utilize
Optical principle is calculated.Its angle of lag compensation method has two kinds, and one is to add one in systems
Position adjustable angle of lag compensatory reflex mirror, when carrying out angle of lag and compensating, makes compensatory reflex mirror rotate
To at a certain fixed position, local oscillator light is compensated and makes it reflex at echo optical position to carry out heterodyne
Beat frequency；Another kind of method be then use angle of lag compensatory reflex mirror by echo optical axis compensation to local oscillator light
Overlap, owing to angle of lag is known, need when different angle of lags is compensated by angle of lag compensatory reflex mirror
Being moved to different fixed positions, the echo beam after finally compensating carries out outer beat with local oscillator light
Frequently.
National inventing patent " a kind of novel relevant anemometry laser radar telescopic system " (patent application
Number :) disclose a kind of anemometry laser radar telescope using scanning monitor to add two telescope scannings
System, its structure is as shown in Figure 1.This anemometry laser radar telescopic system include scanning monitor and
Two identical off axis reflector telescopes with certain angle；Two off axis reflector telescopes are with scanning
Centered by controller (4), it is separated by certain angle with same distance and places；Each off axis reflector telescope
It is made up of primary mirror (1), secondary mirror (2) and compensating glass (3)；Scanning monitor (4) is swept by one
Retouch motor and a plane mirror composition；By the deflection of the reflecting mirror on scan module, carry out 2
The switching of telescope light path, it is achieved 2 telescopical detections；From the light of LASER Light Source outgoing via sweeping
Retouch the reflecting mirror on motor and be reflected into telescopical compensating glass (3), be then passed through compensating glass (3)
Refract to telescope secondary mirror (2), then reflex to telescope primary mirror (1) via the secondary mirror (2) tilted,
It is transmitted in air by telescope primary mirror (1)；Laser as the molecule in carrier signal, with air and
Particulate interacts and produces echo-signal, and the echo-signal returned from air is looked in the distance by same
Mirror is received, via telescopical primary mirror (1), secondary mirror (2), compensating glass (3) to scanning electricity
Reflecting mirror on machine, reflexes in subsequent optical path.
Owing to two off axis reflector telescope each working times are different, at a time, only one of which
Telescope can click on the detection of sector-style speed to measurement, and after certain interval of time, another telescope is to phase
Same measures the wind speed detection that point carries out on another direction, finally by the wind speed of the two orientation detection
Data carry out Vector modulation, obtain the horizontal wind speed on this measurement point and wind direction information.Double telescopical
Scan mode, can cause the optical axis of echo beam to produce two kinds of skews, i.e. the optical axis of echo beam is positioned at
Receive Systems Theory optical axis either above or below so that angle of lag cannot compensate by fixing device.
It is thus desirable to design one compensates for double telescopical spaceborne anemometry laser radar system angle of lags
Device and precision correcting method.
Summary of the invention
The purpose of the present invention is to propose to a kind of delayed for double telescopical spaceborne anemometry laser radar systems
Device that angle compensates and precision correcting method.The inventive method is at two pieces of guide-lighting mirrors of existing employing
On the basis of the angle of lag compensation device compensated, it is proposed that a kind of offset angle is the most adjustable, and
Available closed loop detects the angle of lag compensation device and precision correcting method accurately revised.The present invention
Device detects, by adding photodetector, the precision that angle of lag compensates, simultaneously by control signal
The compensation effect of reason module correction angle of lag.
It is an object of the invention to be achieved through the following technical solutions.
A kind of satellite-bone laser radar wind measuring system angle of lag compensation device, it is characterised in that: comprising:
Telescope scanning optics (5), angle of lag compensating module (6), removable plug-in type reflecting mirror
(7), beam expanding lens (8), face battle array photodetector (9) and control signal processing module (10).
The systematic optical axis of described satellite-bone laser radar wind measuring system angle of lag compensation device is represented with symbol a.
Described telescope scanning optics (5) include scanning monitor (4) identical with two from
Axle reflecting telescope (uses symbol W respectively1And W2Represent)；Off axis reflector telescope W1Optical axis
Systematic optical axis (representing with symbol a) with described satellite-bone laser radar wind measuring system angle of lag compensation device
Parallel；Off axis reflector telescope W1And W2Equal with the distance of scanning monitor (4) respectively, and
And off axis reflector telescope W1And W2Form an angle with the line of scanning monitor (4).Each
Off axis reflector telescope is made up of primary mirror (1), secondary mirror (2) and compensating glass (3)；Scanning monitor
(4) it is made up of a scan module and a plane mirror；Inclined by the reflecting mirror on scan module
Turn, carry out the switching of 2 off axis reflector telescope light paths, it is achieved 2 telescopical spies of off axis reflector
Survey.It is reflected into off axis reflector from the light of LASER Light Source outgoing via the reflecting mirror scan module to look in the distance
The compensating glass (3) of mirror, is then passed through compensating glass (3) and refracts to telescope secondary mirror (2), then via
The secondary mirror (2) tilted reflexes to off axis reflector telescope primary mirror (1), by off axis reflector telescope master
Mirror (1) is transmitted in air；Laser is as the molecule in carrier signal, with air and particulate
Interacting and produce echo-signal, the echo-signal returned from air is by same off axis reflector telescope
It is received, via the telescopical primary mirror of off axis reflector (1), secondary mirror (2), compensating glass (3) extremely
Reflecting mirror on scan module, reflexes in subsequent optical path.
Two off axis reflector telescope W1And W2For alternation pattern, wherein an off axis reflector
After telescope completes m laser pulse detection, switch to another off axis reflector telescope；M value is by people
For presetting, m ∈ [20,100].
The Main Function of described telescope scanning optics (5) is: 1. when system worked well,
Launch laser and receive echo；2. when angle of lag compensation is carried out adjustment in accuracy, it is provided that retroreflection
Light.
Described angle of lag compensating module (6) including: whirl compensator (601), translation compensation device (606),
Rotate guide-lighting mirror (603), the guide-lighting mirror (604) of translation, the first connector (602) and the second connection
Part (605)；Rotate guide-lighting mirror (603) by the first connector (602) and whirl compensator (601)
Fixing connection；The guide-lighting mirror (604) of translation is by the second connector (605) and translation compensation device (606)
Fixing connection；In original state, rotate guide-lighting mirror (603) and the zero point of the guide-lighting mirror (604) of translation
Position is placed in parallel and from the horizontal by 45 ° of angles for both；
The function of described angle of lag compensating module (6) including: 1. when described satellite-bone laser radar surveys wind system
When system normally works, carry out angle of lag compensation work.2. at described satellite-bone laser radar wind measuring system
When the angle of lag compensation precision correction stage, carry out angle of lag compensation precision correction work.
The function of described removable plug-in type reflecting mirror (7) is: in described spaceborne anemometry laser radar system
When system needs to carry out angle of lag compensation precision correction, removable plug-in type reflecting mirror (7) is moved into light path
In, removable plug-in type reflecting mirror (7) is by off axis reflector telescope W1Middle compensating glass (3) backward
Reflection light beam Propagation is to beam expanding lens (8).
The function of described beam expanding lens (8) is by off axis reflector telescope W1Middle compensating glass (3) backward
Reflected light signal beam diameter is reduced by multiple, with the size of adaptive surface array detector.Described multiple can
Choosing
The function of described battle array photodetector (9) is to receive the hot spot in beam expanding lens (8), imaging
Rear transmission is to control signal processing module (10).
The function of described control signal processing module (10) including: 1. when described spaceborne survey wind laser thunder
When reaching system worked well, control signal processing module (10) sends to angle of lag compensating module (6)
Top angle of lag compensates signal or lower section angle of lag compensates signal；To removable plug-in type reflecting mirror (7)
Send removable plug-in type reflecting mirror (7) removal signal；Send to face battle array photodetector (9) and close
Close signal；And at off axis reflector telescope W1When normally working, control signal processing module (10)
Removal signal is sent to scanning monitor (4)；At off axis reflector telescope W2When normally working, control
Signal processing module (10) sends immigration signal to scanning monitor (4).2. when described spaceborne survey
Wind laser radar system is in angle of lag compensation precision correction stage, control signal processing module (10)
Adjustment in accuracy signal is sent to angle of lag compensating module (6)；To removable plug-in type reflecting mirror (7)
Send removable plug-in type reflecting mirror (7) and move into signal；Send to face battle array photodetector (9) and beat
ON signal；Removal signal is sent to scanning monitor (4).
The annexation of each part mentioned above is:
After angle of lag compensating module (6) is positioned at double telescope scanning optics (5)；In system just
When often working, echo laser compensates mould through double telescope scanning optics (5) transmission to angle of lag
Block (6), transmits to ancillary equipment after angle of lag compensating module (6) compensates；Carrying out angle of lag
During compensation precision correction, after removable plug-in type reflecting mirror (7) is positioned at angle of lag compensating module (6)
Light path on, beam expanding lens (8) is positioned over the side of removable plug-in type reflecting mirror (7) and is positioned at face
The front end of battle array photodetector (9)；At the output termination control signal in face battle array photodetector (9)
The input of reason module (10)；The output termination angle of lag of control signal processing module (10) compensates
The input of module (6).
Use described spaceborne anemometry laser radar system angle of lag compensation device that angle of lag is compensated
Work process is:
Step 1: make described spaceborne anemometry laser radar system be in normal work stage, at control signal
Reason module (10) sends removable plug-in type reflecting mirror (7) to removable plug-in type reflecting mirror (7)
Removal signal, removable plug-in type reflecting mirror (7) removal system light path；Control signal processing module (10)
Send shutdown signal to face battle array photodetector (9), face battle array photodetector (9) is closed；Control
Signal processing module (10) is according to off axis reflector telescope W1And W2Between work schedule, from
Axle reflecting telescope W1When normally working, control signal processing module (10) sends scanning monitor (4)
Removal signal, scanning monitor (4) removal system light path；At off axis reflector telescope W2During work,
Control signal processing module (10) sends scanning monitor (4) and moves into signal, scanning monitor (4)
Move into system light path.
Step 2: control signal processing module (10) is stagnant above angle of lag compensating module (6) sends
Rear angle compensation signal or lower section angle of lag compensate signal.
As off axis reflector telescope W in telescope scanning optics (5)1When normally working, control
Above signal processing module (10) transmission, angle of lag compensates signal.
As off axis reflector telescope W in telescope scanning optics (5)2When normally working, control
Below signal processing module (10) transmission, angle of lag compensates signal.
Step 3: angle of lag compensating module (6) comes according to control signal processing module (10) transmission
Top angle of lag compensates signal or lower section angle of lag compensates signal, completes angle of lag compensation work.Specifically
For:
Step 3.1: when angle of lag compensating module (6) receives top angle of lag compensation signal, tool
Gymnastics is made: whirl compensator (601) controls to rotate guide-lighting mirror (603) and turns to dead-center position,
Being rotated clockwise to be set to position, θ/2 degree with initial bit, wherein θ is angle of lag again, and θ is by artificial pre-
First set, θ ∈ [9 × 10-4/ π, 0.36/ π] degree；Translation compensation device (606) controls the guide-lighting mirror (604) of translation
Turn to dead-center position, then to right translation H × tan θ, wherein H is off axis reflector telescope W1Jiao
Point is to the distance rotating guide-lighting mirror (603) symmetrical centre point.Whirl compensator (601) and translation are mended
Repay device (606) complete control after, end operation.
Step 3.2: when angle of lag compensating module (6) receives lower section angle of lag compensation signal, tool
Gymnastics is made: whirl compensator (601) controls to rotate guide-lighting mirror (603) and turns to dead-center position,
Rotate counterclockwise to again be set to position, θ/2 degree with initial bit；Translation compensation device (606) controls translation
Guide-lighting mirror (604) turns to dead-center position, then to left H × tan θ.Whirl compensator (601),
After translation compensation device (606) and scanning monitor (4) complete to control, end operation.
Use described spaceborne anemometry laser radar system angle of lag compensation device to angle of lag adjustment in accuracy
Work process is:
Step a: make described spaceborne anemometry laser radar system be in the angle of lag adjustment in accuracy stage, controls
Signal processing module (10) sends removable plug-in type reflecting mirror to removable plug-in type reflecting mirror (7)
(7) moving into signal, removable plug-in type reflecting mirror (7) moves into system light path；Control signal processes
Module (10) sends opening signal, face battle array photodetector (9) to face battle array photodetector (9)
Normal work；Control signal processing module (10) sends scanning monitor (4) removal signal, scanning
Controller (4) removal system light path, control signal processing module (10) is to angle of lag compensating module (6)
Send reset command, rotate guide-lighting mirror (603) and the guide-lighting mirror (604) of translation is reset to dead-center position；
Step b: control signal processing module (10) reading face battle array photodetector (9) obtain from
Axle reflecting telescope W1The back reflected laser light spot image of middle compensating glass (3), and it is calculated face battle array
The horizontal seat of the central point in the spot center that photodetector (9) obtains and face battle array photodetector (9)
The difference (representing with symbol Δ L) of mark；Signal processing module (10) calculates whirl compensator further
(601) fine setting rotation amount α/2, and spot center that face battle array photodetector (9) is obtained and face
Difference Δ L and fine setting rotation amount α/2 of the abscissa of the central point of battle array photodetector (9) are sent to delayed
Angle compensation module (6).The value of α can be passed through formula (1) and be calculated.
Δ L AF=h tan α (1)
Wherein, h for rotate guide-lighting mirror (603) symmetrical centre point to face battle array photodetector (9) away from
From, AF be beam expanding lens (8) expand multiple.
Step c: angle of lag compensating module (6) completes the work of angle of lag adjustment in accuracy；Concrete operations are:
Detection rotates whether guide-lighting mirror (603) is in dead-center position, if face battle array photodetector (9)
The difference Δ L of the abscissa of the central point in the spot center arrived and face battle array photodetector (9), if | Δ L | is ＜ σ
Set up, σ for presetting threshold value, σ ∈ [0,10] micron, then it is assumed that rotate leaded light mirror (603) be in zero
Point position, is not required to do compensating approach；Otherwise, when Δ L be on the occasion of time, whirl compensator (601) control
The guide-lighting mirror (603) of rotation is rotation alpha/2 degree counterclockwise from current location；When Δ L is negative value, rotates and mend
Repay device (601) to control to rotate guide-lighting mirror (603) and turn clockwise from current location α/2 degree.Repeat step
Rapid c, until | Δ L | the ＜ σ detected, stops operation.
Beneficial effect
The one spaceborne anemometry laser radar system angle of lag compensation device that the present invention relates to and adjustment in accuracy
Method, has offset angle the most adjustable, and the detection of available closed loop carries out the advantages such as accurate correction.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of anemometry laser radar telescopic system in prior art；
Wherein: 1-primary mirror, 2-secondary mirror, 3-compensating glass, 4-scanning monitor.
Fig. 2 is spaceborne anemometry laser radar system angle of lag compensation device in the specific embodiment of the invention
Structural representation；
Wherein, 5-telescope scanning optics, 6-angle of lag compensating module, that 7-may move plug-in type is anti-
Penetrate mirror, 8-beam expanding lens, 9-face battle array photodetector, 10-control signal processing module；
Fig. 3 is the structural representation of angle of lag compensating module in the specific embodiment of the invention；
Wherein, 601-whirl compensator, 602-the first connector, 603-rotate guide-lighting mirror, 604-translation
Guide-lighting mirror, 605-the second connector, 606-translation compensation device.
Detailed description of the invention
In order to better illustrate technical scheme, below by embodiment and accompanying drawing, to this
Bright it is described further.
Spaceborne anemometry laser radar system angle of lag compensation device in the present embodiment, its structure such as Fig. 1
Shown in, comprising: telescope scanning optics 5, angle of lag compensating module 6, removable plug-in type
Reflecting mirror 7, beam expanding lens 8, face battle array photodetector 9 and control signal processing module 10.In Fig. 1,
A represents the systematic optical axis of satellite-bone laser radar wind measuring system angle of lag compensation device.
Telescope scanning optics 5 includes: the off axis reflector that scanning monitor 4 is identical with two is hoped
Remote mirror W1And W2；Off axis reflector telescope W1Optical axis and described satellite-bone laser radar wind measuring system
The systematic optical axis a of angle of lag compensation device is parallel；Off axis reflector telescope W1And W2Respectively with scanning
The distance of controller 4 is equal, and off axis reflector telescope W1And W2Company with scanning monitor 4
Line forms an angle.Each off axis reflector telescope is made up of primary mirror 1, secondary mirror 2 and compensating glass 3；Sweep
Retouch controller 4 to be made up of a scan module and a plane mirror；By the reflection on scan module
The deflection of mirror, carries out the switching of 2 off axis reflector telescope light paths, it is achieved 2 off axis reflectors are looked in the distance
The detection of mirror.It is reflected into off-axis anti-via the reflecting mirror scan module from the light of LASER Light Source outgoing
Penetrate telescopical compensating glass 3, be then passed through compensating glass 3 and refract to telescope secondary mirror 2, then via inclination
Secondary mirror 2 reflex to off axis reflector telescope primary mirror 1, off axis reflector telescope primary mirror 1 be transmitted into greatly
In gas；Laser interacts as the molecule in carrier signal, with air and particulate and produces back
Ripple signal, the echo-signal returned from air is received by same off axis reflector telescope, via
Reflecting mirror on the telescopical primary mirror of off axis reflector 1, secondary mirror 2, compensating glass 3 to scan module, reflection
To subsequent optical path.
Two off axis reflector telescope W1And W2For alternation pattern, wherein an off axis reflector
After telescope completes m laser pulse detection, switch to another off axis reflector telescope；M=50.
The Main Function of telescope scanning optics 5 is: 1. when system worked well, launches and swashs
Light and reception echo；2. when angle of lag compensation is carried out adjustment in accuracy, it is provided that back reflected laser.
The structure of angle of lag compensating module 6 is as in figure 2 it is shown, comprising: whirl compensator 601, translation
Compensator 606, the guide-lighting mirror 603 of rotation, guide-lighting mirror the 604, first connector of translation 602 and second connect
Fitting 605；Rotate guide-lighting mirror 603 to be connected by the first connector 602 is fixing with whirl compensator 601；
The guide-lighting mirror 604 of translation is connected by the second connector 605 is fixing with translation compensation device 606；Initially
State, rotate the dead-center position of guide-lighting mirror 603 and the guide-lighting mirror 604 of translation be placed in parallel for both and with
Horizontal direction angle at 45 °；
Wherein, high-accuracy high-resolution piezoelectric type selected by whirl compensator 601 and translation compensator 606
Putting inclined Daepori and like nanometer displacement Technology Co., Ltd., product type is S-330.2SL.
The function of angle of lag compensating module 6 includes: 1. when described satellite-bone laser radar wind measuring system is normal
During work, carry out angle of lag compensation work.2. it is in delayed when described satellite-bone laser radar wind measuring system
During the angle compensation adjustment in accuracy stage, carry out angle of lag compensation precision correction work.
The function of removable plug-in type reflecting mirror 7 is: at described spaceborne anemometry laser radar system needs
When carrying out angle of lag compensation precision correction, removable plug-in type reflecting mirror 7 is moved in light path, can move
Dynamic plug-in type reflecting mirror 7 is by off axis reflector telescope W1The back reflected laser beam Propagation of middle compensating glass 3
To beam expanding lens 8.
The function of beam expanding lens 8 is by off axis reflector telescope W1The retroreflection optical signal of middle compensating glass 3
Beam diameter is pressedMultiple reduces, with the planar array detector size adapted to.
Face battle array photodetector 9 selects the size of imaging surface battle array to be 320 × 256, and Pixel size is 30 μ
M × 30 μm, the face battle array photodetector of image planes size 9.6mm × 7.68mm.Its function is to receive
Hot spot in beam expanding lens 8, transmits after imaging to control signal processing module 10.
The function of described control signal processing module 10 includes: 1. when described spaceborne anemometry laser radar system
When system normally works, control signal processing module 10 is angle of lag above angle of lag compensating module 6 sends
Compensate signal or lower section angle of lag compensates signal；Movable insertion is sent to removable plug-in type reflecting mirror 7
Enter formula reflecting mirror 7 and remove signal；Shutdown signal is sent to face battle array photodetector 9；And off axis
Reflecting telescope W1When normally working, control signal processing module 10 sends shifting to scanning monitor 4
Go out signal；At off axis reflector telescope W2When normally working, control signal processing module 10 is to scanning
Controller 4 sends immigration signal.2. compensate when described spaceborne anemometry laser radar system is in angle of lag
In the adjustment in accuracy stage, control signal processing module 10 sends adjustment in accuracy letter to angle of lag compensating module 6
Number；Send removable plug-in type reflecting mirror 7 to removable plug-in type reflecting mirror 7 and move into signal；To face
Battle array photodetector 9 sends opening signal；Removal signal is sent to scanning monitor 4.
The annexation of each part mentioned above is:
After angle of lag compensating module 6 is positioned at double telescope scanning optics 5；At system worked well
Time, echo laser transmits to angle of lag compensating module 6, through stagnant through double telescope scanning opticss 5
Relief angle compensating module 6 transmits to ancillary equipment after compensating；When carrying out angle of lag compensation precision correction,
Removable plug-in type reflecting mirror 7 is positioned in the light path after angle of lag compensating module 6, and beam expanding lens 8 is placed
In the side of removable plug-in type reflecting mirror 7 and the front end that is positioned at face battle array photodetector 9；Face battle array light
The input of the output termination control signal processing module 10 of electric explorer 9；Control signal processing module
The input of the output termination angle of lag compensating module 6 of 10.
Use spaceborne anemometry laser radar system angle of lag compensation device described in the present embodiment to angle of lag
Compensating, concrete operation step is:
Step 1: make described spaceborne anemometry laser radar system be in normal work stage, at control signal
Reason module 10 sends removable plug-in type reflecting mirror 7 to removable plug-in type reflecting mirror 7 and removes signal,
Removable plug-in type reflecting mirror 7 removes system light path；Control signal processing module 10 is to face battle array light electrical resistivity survey
Surveying device 9 and send shutdown signal, face battle array photodetector 9 cuts out；Control signal processing module 10 basis
Off axis reflector telescope W1And W2Between work schedule, at off axis reflector telescope W1Normal work
When making, control signal processing module 10 sends scanning monitor 4 and removes signal, and scanning monitor 4 moves
Go out system light path；At off axis reflector telescope W2During work, control signal processing module 10 sends sweeps
Retouching controller 4 and move into signal, scanning monitor 4 moves into system light path.
Step 2: control signal processing module 10 angle of lag above angle of lag compensating module 6 sends is mended
Repay signal or lower section angle of lag compensates signal.
As off axis reflector telescope W in telescope scanning optics 51When normally working, control signal
Above processing module 10 transmission, angle of lag compensates signal.
As off axis reflector telescope W in telescope scanning optics 52When normally working, control signal
Below processing module 10 transmission, angle of lag compensates signal.
Step 3: it is stagnant that angle of lag compensating module 6 sends, according to control signal processing module 10, the top come
Rear angle compensation signal or lower section angle of lag compensate signal, complete angle of lag compensation work.Particularly as follows:
Step 3.1: when angle of lag compensating module 6 receives top angle of lag compensation signal, specifically grasp
Work is: whirl compensator 601 controls to rotate guide-lighting mirror 603 and turns to dead-center position, then dextrorotation
Going to be set to position, θ/2 degree with initial bit, wherein θ is angle of lag, θ=0.360/ π degree；Translation is mended
Repay the device 606 guide-lighting mirror 604 of control translation and turn to dead-center position, then to right translation H × tan θ, wherein H
For off axis reflector telescope W1Focus to rotating the distance of guide-lighting mirror 603 symmetrical centre point,
H=1.5m.After whirl compensator 601 and translation compensator 606 complete to control, end operation.
Step 3.2: when angle of lag compensating module 6 receives lower section angle of lag compensation signal, specifically grasp
Work is: whirl compensator 601 controls to rotate guide-lighting mirror 603 and turns to dead-center position, and another mistake hour hands revolve
Go to be set to position, θ/2 degree with initial bit；Translation compensation device 606 controls the guide-lighting mirror 604 of translation and rotates
To dead-center position, then to left H × tan θ.Whirl compensator 601, translation compensation device 606 and sweep
Retouch controller 4 complete control after, end operation.
Use described spaceborne anemometry laser radar system angle of lag compensation device to angle of lag adjustment in accuracy
Work process is:
Step a: make described spaceborne anemometry laser radar system be in the angle of lag adjustment in accuracy stage, controls
Signal processing module 10 sends removable plug-in type reflecting mirror 7 to removable plug-in type reflecting mirror 7 and moves into
Signal, removable plug-in type reflecting mirror 7 moves into system light path；Control signal processing module 10 is to face battle array
Photodetector 9 sends opening signal, and face battle array photodetector 9 normally works；Control signal processes
Module 10 sends scanning monitor 4 and removes signal, and scanning monitor 4 removes system light path, controls letter
Number processing module 10 sends reset command to angle of lag compensating module 6, rotates guide-lighting mirror 603 and translation
Guide-lighting mirror 604 is reset to dead-center position；
Step b: the off axis reflector that control signal processing module 10 reading face battle array photodetector 9 obtains
Telescope W1The back reflected laser light spot image of middle compensating glass 3, and it is calculated face battle array photodetector
The difference Δ L of the abscissa of the central point of 9 spot center obtained and face battle array photodetector 9；At signal
Reason module 10 calculates fine setting rotation amount α/2 of whirl compensator 601 further, and by face battle array photoelectricity
The difference Δ L of the abscissa of the central point of the spot center that detector 9 obtains and face battle array photodetector 9 and
Fine setting rotation amount α/2 are sent to angle of lag compensating module 6.The value of α can be calculated by formula 1,
H=0.5m in formula 1,
Step c: angle of lag compensating module 6 completes the work of angle of lag adjustment in accuracy；Concrete operations are: inspection
Survey and rotate whether guide-lighting mirror 603 is in dead-center position, if the hot spot that face battle array photodetector 9 obtains
The difference Δ L of the abscissa of the central point of center and face battle array photodetector 9, if meeting | Δ L | ＜ σ,
σ=1.5 micron, then it is assumed that rotate guide-lighting mirror 603 and be in dead-center position, be not required to do compensating approach；Otherwise,
When Δ L be on the occasion of time, whirl compensator 601 controls to rotate guide-lighting mirror 603 and revolves counterclockwise from current location
Turn α/2 degree；When Δ L is negative value, whirl compensator 601 controls to rotate guide-lighting mirror 603 from present bit
Put α/2 degree that turn clockwise.Repeat step c, until | Δ L | the ＜ σ detected, stop operation.
The main contents of the present invention have been made to be discussed in detail by above-mentioned preferred embodiment, it should be appreciated that on
The description stated is not considered as limitation of the present invention.Those skilled in the art read above-mentioned in
Rong Hou, multiple amendment and replacement for the present invention all will be apparent from.Therefore, the present invention
Protection domain should be limited to the appended claims.
Claims (3)
1. a satellite-bone laser radar wind measuring system angle of lag compensation device, it is characterised in that: comprising: look in the distance
Scarnning mirror optical system (5), angle of lag compensating module (6), removable plug-in type reflecting mirror (7), expansion
Shu Jing (8), face battle array photodetector (9) and control signal processing module (10)；Institute is represented with symbol a
State the systematic optical axis of satellite-bone laser radar wind measuring system angle of lag compensation device；
Described telescope scanning optics (5) includes the off axis reflector that scanning monitor (4) is identical with two
Telescope W1And W2；Off axis reflector telescope W1Optical axis stagnant with described satellite-bone laser radar wind measuring system
The systematic optical axis a of relief angle compensation device is parallel；Off axis reflector telescope W1And W2Respectively with scanning monitor
(4) distance is equal, and off axis reflector telescope W1And W2With being wired to of scanning monitor (4)
Certain angle；Each off axis reflector telescope is made up of primary mirror (1), secondary mirror (2) and compensating glass (3)；
Scanning monitor (4) is made up of a scan module and a plane mirror；By the reflection on scan module
The deflection of mirror, carries out the switching of 2 off axis reflector telescope light paths, it is achieved 2 telescopical spies of off axis reflector
Survey；It is reflected into the telescopical benefit of off axis reflector via the reflecting mirror scan module from the light of LASER Light Source outgoing
Repay mirror (3), be then passed through compensating glass (3) and refract to telescope secondary mirror (2), then via the secondary mirror tilted
(2) reflex to off axis reflector telescope primary mirror (1), off axis reflector telescope primary mirror (1) be transmitted into greatly
In gas；Laser interacts as the molecule in carrier signal, with air and particulate and produces echo-signal,
The echo-signal returned from air is received by same off axis reflector telescope, via off axis reflector telescope
Primary mirror (1), secondary mirror (2), reflecting mirror on compensating glass (3) to scan module, reflex to subsequent optical
Lu Zhong；
Two off axis reflector telescope W1And W2For alternation pattern, an off axis reflector is looked in the distance wherein
After mirror completes m laser pulse detection, switch to another off axis reflector telescope；M value is by artificially setting in advance
Fixed, m ∈ [20,100]；
The Main Function of described telescope scanning optics (5) is: 1. when system worked well, launches
Laser and reception echo；2. when angle of lag compensation is carried out adjustment in accuracy, it is provided that back reflected laser；
Described angle of lag compensating module (6) including: whirl compensator (601), translation compensation device (606),
Rotate guide-lighting mirror (603), the guide-lighting mirror (604) of translation, the first connector (602) and the second connector (605)；
Rotate guide-lighting mirror (603) to be connected by the first connector (602) and whirl compensator (601) are fixing；Flat
Move guide-lighting mirror (604) to be connected by the second connector (605) and translation compensation device (606) are fixing；Just
Beginning state, the dead-center position rotating guide-lighting mirror (603) and the guide-lighting mirror (604) of translation is placed in parallel also for both
From the horizontal by 45 ° of angles；
The function of described angle of lag compensating module (6) including: 1. when described satellite-bone laser radar wind measuring system just
When often working, carry out angle of lag compensation work；2. mend when described satellite-bone laser radar wind measuring system is in angle of lag
When repaying the adjustment in accuracy stage, carry out angle of lag compensation precision correction work；
The function of described removable plug-in type reflecting mirror (7) is: need in described spaceborne anemometry laser radar system
During angle of lag compensation precision correction to be carried out, removable plug-in type reflecting mirror (7) is moved in light path, can move
Dynamic plug-in type reflecting mirror (7) is by off axis reflector telescope W1The back reflected laser light beam of middle compensating glass (3) passes
Transport to beam expanding lens (8)；
The function of described beam expanding lens (8) is by off axis reflector telescope W1The retroreflection of middle compensating glass (3)
Optical signal beam diameter is reduced by multiple, with the size of adaptive surface array detector；Described multiple is optional
The function of described battle array photodetector (9) is to receive the hot spot in beam expanding lens (8), transmits after imaging
To control signal processing module (10)；
The function of described control signal processing module (10) including: 1. when described spaceborne anemometry laser radar system
When normally working, control signal processing module (10) is angle of lag above angle of lag compensating module (6) sends
Compensate signal or lower section angle of lag compensates signal；Removable insertion is sent to removable plug-in type reflecting mirror (7)
Formula reflecting mirror (7) removal signal；Shutdown signal is sent to face battle array photodetector (9)；And off-axis anti-
Penetrate telescope W1When normally working, control signal processing module (10) sends removal to scanning monitor (4)
Signal；At off axis reflector telescope W2When normally working, control signal processing module (10) is to scan control
Device (4) sends immigration signal；2. repair when described spaceborne anemometry laser radar system is in angle of lag compensation precision
In the positive stage, control signal processing module (10) sends adjustment in accuracy signal to angle of lag compensating module (6)；
Send removable plug-in type reflecting mirror (7) to removable plug-in type reflecting mirror (7) and move into signal；To face battle array light
Electric explorer (9) sends opening signal；Removal signal is sent to scanning monitor (4)；
The annexation of the described satellite-bone laser radar wind measuring system each building block of angle of lag compensation device is:
After angle of lag compensating module (6) is positioned at double telescope scanning optics (5)；At system worked well
Time, echo laser transmits to angle of lag compensating module (6), warp through double telescope scanning opticss (5)
Angle of lag compensating module (6) transmits to ancillary equipment after compensating；When carrying out angle of lag compensation precision correction,
Removable plug-in type reflecting mirror (7) is positioned in the light path after angle of lag compensating module (6), beam expanding lens (8)
It is positioned over the side of removable plug-in type reflecting mirror (7) and is positioned at the front end in face battle array photodetector (9)；Face
The input of output termination control signal processing module (10) of battle array photodetector (9)；At control signal
The input of output termination angle of lag compensating module (6) of reason module (10).
2. satellite-bone laser radar wind measuring system angle of lag compensation device as claimed in claim 1, it is characterised in that:
Its work process that angle of lag is compensated is used to be:
Step 1: making described spaceborne anemometry laser radar system be in normal work stage, control signal processes mould
Block (10) sends removable plug-in type reflecting mirror (7) removal signal to removable plug-in type reflecting mirror (7),
Removable plug-in type reflecting mirror (7) removal system light path；Control signal processing module (10) is to face battle array photoelectricity
Detector (9) sends shutdown signal, and face battle array photodetector (9) is closed；Control signal processing module (10)
According to off axis reflector telescope W1And W2Between work schedule, at off axis reflector telescope W1Normal work
Time, control signal processing module (10) sends scanning monitor (4) removal signal, scanning monitor (4)
Removal system light path；At off axis reflector telescope W2During work, control signal processing module (10) sends sweeps
Retouching controller (4) and move into signal, scanning monitor (4) moves into system light path；
Step 2: control signal processing module (10) angle of lag above angle of lag compensating module (6) sends is mended
Repay signal or lower section angle of lag compensates signal；
As off axis reflector telescope W in telescope scanning optics (5)1When normally working, at control signal
Above reason module (10) transmission, angle of lag compensates signal；
As off axis reflector telescope W in telescope scanning optics (5)2When normally working, at control signal
Below reason module (10) transmission, angle of lag compensates signal；
Step 3: it is stagnant that angle of lag compensating module (6) sends, according to control signal processing module (10), the top come
Rear angle compensation signal or lower section angle of lag compensate signal, complete angle of lag compensation work；Particularly as follows:
Step 3.1: when angle of lag compensating module (6) receives top angle of lag compensation signal, concrete operations
It is: whirl compensator (601) controls to rotate guide-lighting mirror (603) and turns to dead-center position, then turns clockwise
To being set to position, θ/2 degree with initial bit, wherein θ is angle of lag, θ by artificially presetting,
θ∈[9×10-4/ π, 0.36/ π] degree；Translation compensation device (606) controls the guide-lighting mirror (604) of translation and turns to zero point position
Put, then to right translation H × tan θ, wherein H is off axis reflector telescope W1Focus to rotating guide-lighting mirror (603)
The distance of symmetrical centre point；After whirl compensator (601) and translation compensator (606) complete to control, terminate
Operation；
Step 3.2: when angle of lag compensating module (6) receives lower section angle of lag compensation signal, concrete operations
It is: whirl compensator (601) controls to rotate guide-lighting mirror (603) and turns to dead-center position, and another mistake hour hands rotate
To being set to position, θ/2 degree with initial bit；Translation compensation device (606) controls the guide-lighting mirror (604) of translation and rotates
To dead-center position, then to left H × tan θ；Whirl compensator (601), translation compensation device (606) and
After scanning monitor (4) completes to control, end operation.
3. satellite-bone laser radar wind measuring system angle of lag compensation device as claimed in claim 1 or 2, its feature
It is: use it to the work process of angle of lag adjustment in accuracy to be:
Step a: make described spaceborne anemometry laser radar system be in angle of lag adjustment in accuracy stage, control signal
Processing module (10) sends removable plug-in type reflecting mirror (7) to removable plug-in type reflecting mirror (7) and moves into
Signal, removable plug-in type reflecting mirror (7) moves into system light path；Control signal processing module (10) is to face
Battle array photodetector (9) sends opening signal, and face battle array photodetector (9) normally works；At control signal
Reason module (10) sends scanning monitor (4) removal signal, scanning monitor (4) removal system light path, control
Signal processing module (10) sends reset command to angle of lag compensating module (6), rotates guide-lighting mirror (603)
Mirror (604) guide-lighting with translation is reset to dead-center position；
Step b: the off axis reflector that control signal processing module (10) reading face battle array photodetector (9) obtains
Telescope W1The back reflected laser light spot image of middle compensating glass (3), and it is calculated face battle array photodetector (9)
The difference Δ L of the abscissa of the central point in the spot center obtained and face battle array photodetector (9)；Signal processing mould
Block (10) calculates fine setting rotation amount α/2 of whirl compensator (601) further, and by face battle array photodetection
The difference Δ L of the abscissa of the central point in the spot center that device (9) obtains and face battle array photodetector (9) and fine setting
Rotation amount α/2 are sent to angle of lag compensating module (6)；The value of α can be passed through formula (1) and be calculated；
Δ L AF=h tan α (1)
Wherein, h is the distance rotating guide-lighting mirror (603) symmetrical centre point to face battle array photodetector (9), AF
Multiple is expanded for beam expanding lens (8)；
Step c: angle of lag compensating module (6) completes the work of angle of lag adjustment in accuracy；Concrete operations are: detection
Rotate whether guide-lighting mirror (603) is in dead-center position, if in the hot spot that obtains of face battle array photodetector (9)
The difference Δ L of the abscissa of the central point in the heart and face battle array photodetector (9), if | Δ L | ＜ σ sets up, σ is pre-
First set threshold value, σ ∈ [0,10] micron, then it is assumed that rotate guide-lighting mirror (603) and be in dead-center position, be not required to mend
Repay correction；Otherwise, when Δ L be on the occasion of time, whirl compensator (601) controls to rotate guide-lighting mirror (603) from working as
Front position is counterclockwise rotation alpha/2 degree；When Δ L is negative value, whirl compensator (601) controls to rotate guide-lighting mirror
(603) turn clockwise α/2 degree from current location；Repeat step c, until | Δ L | the ＜ σ detected, stop
Operation.
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| CN107664509B (en) * | 2017-08-30 | 2024-01-05 | 中国科学院上海技术物理研究所 | Device and method for detecting large-range dynamic angle measurement precision of spaceborne scanning mechanism |
| CN107678012A (en) * | 2017-11-10 | 2018-02-09 | 深圳市速腾聚创科技有限公司 | Laser radar closed-loop control system, laser radar and laser radar control method |
| CN108717195B (en) * | 2018-05-24 | 2020-12-25 | 远景能源有限公司 | Coherent Doppler wind lidar system and control method thereof |
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| CN109856614B (en) * | 2018-12-28 | 2021-05-11 | 上海卫星工程研究所 | Satellite-borne laser radar optical axis pointing measurement system |
| WO2021035427A1 (en) * | 2019-08-23 | 2021-03-04 | 深圳市速腾聚创科技有限公司 | Lidar and autonomous driving device |
| CN114442104A (en) * | 2020-10-30 | 2022-05-06 | 苏州镭智传感科技有限公司 | Coherent laser radar |
| CN113093149B (en) * | 2021-03-15 | 2024-02-20 | 昂纳科技(深圳)集团股份有限公司 | Rotary mirror device and laser radar |
| CN117792490A (en) * | 2021-06-01 | 2024-03-29 | 中国科学院微小卫星创新研究院 | Intelligent detection device and method for bidirectional transmission optical ground of space laser communication terminal |
| CN113985420B (en) * | 2021-12-28 | 2022-05-03 | 四川吉埃智能科技有限公司 | Method for compensating scanning light path error of laser radar inclined by 45 degrees |
| CN115598625B (en) * | 2022-11-07 | 2023-03-10 | 深圳煜炜光学科技有限公司 | Laser radar measurement correction method, device, equipment and storage medium |
| CN117614518B (en) * | 2024-01-22 | 2024-04-09 | 北京融为科技有限公司 | Satellite-borne laser load receiving and transmitting coaxial calibration method and system |
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