CN106443643B - Optical axis monitoring method and device for high-precision active and passive detection system - Google Patents
Optical axis monitoring method and device for high-precision active and passive detection system Download PDFInfo
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- CN106443643B CN106443643B CN201610893908.9A CN201610893908A CN106443643B CN 106443643 B CN106443643 B CN 106443643B CN 201610893908 A CN201610893908 A CN 201610893908A CN 106443643 B CN106443643 B CN 106443643B
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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
- G01S7/497—Means for monitoring or calibrating
Abstract
The invention discloses an optical axis monitoring method and device for a high-precision active and passive detection system. The invention utilizes the characteristic that the included angle of incident light and emergent light of the prism in the incident plane is only related to the included angle of reflecting surfaces of the prism, and establishes the relative relation between the laser emission optical axis and the optical axis of the passive imaging system by introducing means such as an optical axis separation assembly, an optical axis monitoring camera and the like into the high-precision multi-optical-axis active and passive composite detection system, thereby being convenient for monitoring the change condition of each optical axis in real time in the working process of the high-precision active and passive detection system, and the obtained optical axis change data can also correct the detection data in the subsequent data processing. The invention has the advantages of high optical axis monitoring sensitivity, good self optical axis stability, mature processing, assembling and adjusting process and the like, and can be widely applied to airborne and satellite-borne high-precision active and passive composite detection photoelectric systems.
Description
Technical field:
the invention belongs to the technical field of active and passive composite photoelectric detection, relates to a composite detection system combining high-precision laser active detection and passive photoelectric imaging, which is applied to airborne and satellite-borne platforms, and particularly relates to an optical axis monitoring method and device for the high-precision active and passive detection system.
The background technology is as follows:
as the requirements of users on the precision of laser mapping data are higher and higher, the data acquired by a single laser radar mapping system cannot be matched with a ground target accurately, so that the requirements of high-precision mapping are difficult to meet. In order to solve the problem of positioning the emitted light beam of the laser radar surveying and mapping system so as to realize high-precision matching of the laser beam and the ground target, a scheme of combining a large number of ground calibration control points by a high-precision attitude positioning device is adopted in the developed high-precision laser radar surveying and mapping system such as the earth laser altimetry system (GLAS), so that the complexity of the laser surveying and mapping system and the ground calibration system is caused, the real-time performance is lacked, and the efficiency of the laser surveying and mapping system is reduced.
One possible scheme for solving the problem of real-time matching of the emitted laser beam and the ground scene in the laser radar mapping system is to combine the active and passive composite detection system of the laser active detection system and the traditional passive imaging photoelectric system, and the precise matching of the emitted laser beam and the ground scene can be realized through the relative matching relation between the emitted light beam optical axis of the laser emitting system and the optical axis of the passive imaging system. However, in the actual working process, the relative relation between the emission optical axis of the laser emission system and the optical axis of the passive imaging system may be changed due to external vibration, gravity deformation, environmental temperature change and other factors, so that the matching precision between the emission laser beam and the ground scene is affected. A solution (patent No. CN 102185659B) is proposed in Gu Jianjun et al, which adopts pyramid prism reflection in laser quantum communication to realize optical axis self-calibration, and this solution can only monitor the stable condition of the small-range optical axis of the subsequent optical path, and can only be used for the condition of the common optical path of the laser transmitting and receiving system, and cannot monitor the optical axis change condition of the transmitting and receiving paraxial system and the optical axis change condition of the telescope itself.
The invention comprises the following steps:
in order to solve the problem of real-time monitoring of the relative relationship between the laser emission optical axis and the optical axis of the passive imaging system in the high-precision multi-optical-axis active and passive composite detection system, the invention provides an optical axis monitoring method and device for the high-precision active and passive detection system.
The technical scheme adopted by the invention is as follows: an optical axis monitoring method and device for a high-precision active and passive detection system consists of a laser emission system 1, an optical axis separation assembly 2, a shared telescope 3, a color separation film 4, a passive imaging system 5, a laser receiving system 6, an optical axis monitoring camera 7 and the like. The laser beam emitted by the laser emission system 1 is divided into two beams by an incidence mirror 2-1 of an optical axis separation assembly 2, wherein the detection beam 1-1 is transmitted and then is transmitted to a ground target, an echo signal after being diffusely reflected by the target is received by a shared telescope 3 and then enters a laser receiving system 6 through a color separation film 4, meanwhile, a signal radiated by the ground target is also collected by the shared telescope 3, and is reflected by the color separation film 4 and then enters a passive imaging system 5 for imaging. The optical axis monitoring beam 1-2 is reflected by the front and rear surfaces of the emergent mirror 2-2 of the optical axis separation assembly 2 to form a telescope optical axis monitoring beam 1-3 and an imaging optical axis monitoring beam 1-4, which are incident to the shared telescope 3 and are received by the optical axis monitoring camera 7 and the passive imaging system 5 respectively.
The laser beam emitted by the laser emission system 1 is folded by the optical axis separation assembly 2 to form a telescope optical axis monitoring beam 1-3, the telescope optical axis monitoring beam 1-3 is received by the optical axis monitoring camera 7, formed light spots are used for monitoring optical axis changes of the laser emission system 1 and the shared telescope 3, the imaging optical axis monitoring beam 1-4 is received by the passive imaging system 5, and formed light spots are used for monitoring optical axis relative changes among the laser emission system 1, the shared telescope 3 and the passive imaging system 5.
The optical axis of the detection light beam 1-1 passing through the incidence mirror 2-1 of the laser emission system 1 forms an angle theta with the optical axis of the shared telescope 3, the shared telescope 3 is a shared light path part of the passive imaging system 5, the laser receiving system 6 and the optical axis monitoring camera 7, wherein the optical axis of the optical axis monitoring camera 7 coincides with the optical axis of the shared telescope 3, the optical axes of the passive imaging system 5 and the laser receiving system 6 form an angle theta with the optical axis of the shared telescope 3, and the light paths of the passive imaging system 5 and the laser receiving system 6 are separated by the color separation film 4;
the optical axis separation assembly 2 consists of an incident mirror 2-1, an emergent mirror 2-2 and a structural frame 2-3, wherein the incident mirror 2-1 and the emergent mirror 2-2 are arranged in an integrated structural frame 2-3, and the structural frame 2-3 can be made of titanium alloy, invar or other materials with thermal expansion coefficients smaller than 10 -5 A material of/°c, wherein the normal of the front surfaces of the entrance mirror 2-1 and the exit mirror 2-2 are 45 ° and-45 ° respectively from the optical axis of the shared telescope 3, and the rear surface of the entrance mirror 2-1 has a wedge angle ω1 with respect to the front surface, satisfying the following relationship:
wherein n is the refractive index of the material of the incidence mirror (2-1), and I' are the incident angle and the refraction angle of the light beam on the front surface respectively, and the unit is the angle.
The rear surface of the exit mirror 2-2 has a wedge angle ω2 with respect to the front surface satisfying the following relationship:
n·sin(I'+2ω 2 )＝sin(I+θ)，sin I＝n·sin I'
where n is the refractive index of the material of the exit mirror 2-2, and I' are the angle of incidence and angle of refraction of the light beam at the front surface, respectively, in degrees.
The incidence mirror 2-1 in the optical axis separation assembly 2 is positioned in the transmitting light path of the laser transmitting system 1, and the emergent mirror 2-2 is positioned in the receiving caliber range of the shared telescope 3.
The front surface of the incidence mirror 2-1 in the optical axis separation assembly 2 is plated with a light splitting film, the rear surface is plated with an antireflection film corresponding to the wavelength of the laser emission system, the front surface of the emergent mirror 2-2 is plated with the light splitting film, and the rear surface is plated with an internal reflection film corresponding to the wavelength of the laser emission system.
In the optical axis monitoring method, the optical axis variation can be calculated as follows: let a 1 And a 2 Spot offset detected on the detectors of the optical axis monitoring camera 7 and the passive imaging system 5, respectively, f 1 And f 2 The focal lengths of the optical axis monitoring camera 7 and the passive imaging system 5 which are respectively calibrated accurately are respectively:
by passing through
And->
The size and direction relation between the two can analyze and judge the change condition of the system optical axis.
The invention has the advantages that: the relative relation between the laser emission optical axis and the optical axis of the passive imaging system is established in the high-precision multi-optical-axis active and passive composite detection system, the change condition of each optical axis can be monitored in real time in the working process of the high-precision active and passive detection system, and the high-precision multi-optical-axis active and passive composite detection system has the characteristics of high optical axis monitoring sensitivity, good self optical axis stability, mature processing and adjusting process and the like, and can be widely applied to airborne and satellite-borne high-precision active and passive composite detection photoelectric systems.
Description of the drawings:
fig. 1 is a schematic view of the optical path of the optical axis monitoring device.
Fig. 2 is a schematic diagram of the total optical path of the optical system in the embodiment.
Fig. 3 is a three-dimensional isometric view of an optical axis separation assembly in an embodiment.
Fig. 4 is a light path diagram of the optical axis separation assembly incidence mirror 2-1 in the embodiment.
Fig. 5 is a light path diagram of the optical axis separation assembly exit mirror 2-2 in the embodiment.
The specific embodiment is as follows:
the technical scheme of the invention is further described below with reference to the accompanying drawings and examples:
as shown in fig. 2, the design scheme of the dual-beam laser altimeter optical system capable of imaging the laser footprint scenery according to the embodiment of the invention comprises a shared telescope, a visible/near infrared color separation film, a passive imaging camera, a laser receiving system, an optical axis monitoring camera, an optical axis separation assembly and a laser transmitting system. The system comprises two sets of identical components which are axisymmetrically distributed by taking the optical axis of the shared telescope as a symmetry axis, the passive imaging camera, the laser receiving system and the optical axis monitoring camera share the afocal telescope, the passive imaging camera and the laser receiving system utilize the off-axis view field of the shared telescope, the optical axis monitoring camera utilizes the on-axis view field of the shared telescope, the passive imaging camera and the laser receiving system carry out optical path separation through the visible/near infrared color separation film, the two sets of optical axis separation components and the laser transmitting system are positioned on two sides of the optical path of the telescope, and the optical axes of the two sets of optical axis separation components and the laser transmitting system are respectively parallel to the optical axes of the two sets of passive imaging cameras. The laser beam emitted by the laser emission system is divided into two beams by an incidence mirror of the optical axis separation assembly, the detected laser is transmitted and then is transmitted to a ground target, an echo signal after being diffusely reflected by the ground target is received by a shared telescope and then enters the laser receiving system through a visible/near infrared color separation film, meanwhile, a visible light signal emitted by the ground target is also collected by the shared telescope, and the visible light signal is reflected by the visible/near infrared color separation film and then enters a passive imaging camera for imaging. The optical axis monitoring laser is reflected by the emergent mirror of the optical axis separation assembly to form telescope optical axis monitoring laser and imaging optical axis monitoring laser, and the telescope optical axis monitoring laser and the imaging optical axis monitoring laser are incident to the shared telescope and are received by the passive imaging camera and the optical axis monitoring camera respectively.
The system parameters of the parts of the shared telescope, the passive imaging camera, the laser receiving system, the optical axis monitoring camera, and the like in this embodiment are shown in the following table.
The integrated structural frame in this embodiment is shown in fig. 3, and the material used is invar.
θ=0.7° in the present embodiment, and the internal optical path diagrams of the incident mirror and the exit mirror of the optical axis separation assembly are shown in fig. 4 and fig. 5, respectively. The wedge angle ω1 between the rear surface and the front surface of the incident mirror=0.88°, the wedge angle ω2=0.19° between the rear surface and the front surface of the exit mirror, the materials of both the incident mirror and the exit mirror were fused silica, and the refractive index at 1064nm was 1.45.
In this embodiment, the pixel sizes of the passive imaging camera and the optical axis monitoring camera are both 6um, the focal lengths are 2600mm, and when the light spot deviates from the detector by one pixel, the optical axis stability monitoring sensitivity is
The sensitivity can be further improved if the pixels are subdivided by the spot centroid algorithm.
Claims (6)
1. An optical axis monitoring device for a high-precision active and passive detection system mainly comprises a laser emission system (1), an optical axis separation assembly (2), a shared telescope (3), a color separation film (4), a passive imaging system (5), a laser receiving system (6), an optical axis monitoring camera (7) and the like, and is characterized in that:
the incident mirror (2-1) in the optical axis separation assembly (2) is positioned in the transmitting light path of the laser transmitting system (1), and the emergent mirror (2-2) is positioned in the receiving caliber range of the shared telescope (3);
the optical axis of the detection light beam (1-1) transmitted by the laser transmitting system (1) passes through the incidence mirror (2-1) to form an angle theta with the optical axis of the shared telescope (3), wherein theta is an angle value not smaller than 0.5 DEG, the shared telescope (3) is a shared light path part of the passive imaging system (5), the laser receiving system (6) and the optical axis monitoring camera (7), the optical axis of the optical axis monitoring camera (7) coincides with the optical axis of the shared telescope (3), the optical axes of the passive imaging system (5) and the laser receiving system (6) form an angle theta with the optical axis of the shared telescope (3), and the optical paths of the passive imaging system (5) and the laser receiving system (6) are separated through the color separation piece (4);
the laser beam emitted by the laser emission system (1) is divided into two beams by an incidence mirror (2-1) of the optical axis separation assembly (2), wherein the detection beam (1-1) is transmitted and then is transmitted to a ground target, an echo signal after being diffusely reflected by the target is received by the shared telescope (3) and then enters the laser receiving system (6) through the color separation film (4), meanwhile, a signal radiated by the ground target is also collected by the shared telescope (3), and is reflected by the color separation film (4) and then enters the passive imaging system (5) for imaging; the optical axis monitoring light beam (1-2) is reflected by the front surface and the rear surface of the emergent mirror (2-2) of the optical axis separation assembly (2) to form a telescope optical axis monitoring light beam (1-3) and an imaging optical axis monitoring light beam (1-4) to be incident to the shared telescope (3), and the telescope optical axis monitoring light beam and the imaging optical axis monitoring light beam are respectively received by the optical axis monitoring camera (7) and the passive imaging system (5).
2. An optical axis monitoring device for a high precision active and passive detection system according to claim 1, wherein: a telescope optical axis monitoring beam (1-3) formed by the laser beam emitted by the laser emission system (1) after being folded by the optical axis separation assembly (2) is received by the optical axis monitoring camera (7), a formed light spot is used for monitoring optical axis change between the laser emission system (1) and the shared telescope (3), an imaging optical axis monitoring beam (1-4) is received by the passive imaging system (5), and a formed light spot is used for monitoring optical axis relative change between the laser emission system (1), the shared telescope (3) and the passive imaging system (5).
3. An optical axis monitoring device for a high precision active and passive detection system according to claim 1, wherein: the optical axis separation assembly (2) consists of an incident mirror (2-1), an emergent mirror (2-2) and a structural frame (2-3), wherein the incident mirror (2-1) and the emergent mirror (2-2) are arranged in an integrated structural frame (2-3), and the structural frame (2-3) can be made of titanium alloy, invar or other materials with thermal expansion coefficients smaller than 10 -5 Material of the order of heat/DEG C, wherein the normal of the front surfaces of the incident mirror (2-1) and the outgoing mirror (2-2) are 45 DEG and-45 DEG respectively to the optical axis of the common telescope (3), and the rear surface of the incident mirror (2-1) has a wedge angle omega relative to the front surface 1 The following relationship is satisfied:
wherein n is the refractive index of the material of the incidence mirror (2-1), I and I' are the incidence angle and refraction angle of the light beam on the front surface respectively, the unit is angle, and θ is the angle value described in claim 1;
the rear surface of the exit mirror (2-2) has a wedge angle omega relative to the front surface 2 The following relationship is satisfied:
n·sin(I'+2ω 2 )＝sin(I+θ)，sin I＝n·sin I'
where n is the refractive index of the material of the exit mirror (2-2), I and I' are the angle of incidence and angle of refraction of the light beam at the front surface, respectively, in degrees θ being the angle value as set forth in claim 1.
4. An optical axis monitoring device for a high precision active and passive detection system according to claim 1, wherein: the front surface of the incidence mirror (2-1) is plated with a light splitting film, and the rear surface is plated with an antireflection film corresponding to the wavelength of the laser emission system.
5. An optical axis monitoring device for a high precision active and passive detection system according to claim 1, wherein: the front surface of the emergent mirror (2-2) is plated with a light splitting film, and the rear surface is plated with an internal reflection film corresponding to the wavelength of the laser emission system.
6. An optical axis monitoring method based on the optical axis monitoring device for a high-precision active and passive detection system according to claim 1, characterized in that the method comprises the following steps:
the optical axis variation of the detection system can be calculated as follows: let a 1 And a 2 Spot offset detected on the detectors of the optical axis monitoring camera (7) and the passive imaging system (5), f 1 And f 2 The focal lengths of the optical axis monitoring camera (7) and the passive imaging system (5) which are respectively calibrated accurately are respectively:
by passing through
And->
The size and direction relation between the two can analyze and judge the change condition of the system optical axis.
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| CN201610236588.XA CN105759254A (en) | 2016-04-15 | 2016-04-15 | Optical axis monitoring method and device for high precision active and passive detection system |
| CN201610236588X | 2016-04-15 |
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| CN201621119762.4U Withdrawn - After Issue CN206411264U (en) | 2016-04-15 | 2016-10-13 | It is a kind of to be used for the optical axis monitoring device of the main passive detection system of high accuracy |
| CN201610893908.9A Active CN106443643B (en) | 2016-04-15 | 2016-10-13 | Optical axis monitoring method and device for high-precision active and passive detection system |
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| CN201621119762.4U Withdrawn - After Issue CN206411264U (en) | 2016-04-15 | 2016-10-13 | It is a kind of to be used for the optical axis monitoring device of the main passive detection system of high accuracy |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105759254A (en) * | 2016-04-15 | 2016-07-13 | 中国科学院上海技术物理研究所 | Optical axis monitoring method and device for high precision active and passive detection system |
| CN107656540B (en) * | 2017-08-30 | 2019-11-15 | 南京理工大学 | Uncooled ir and the compound circumferential scanning detection device of laser |
| CN108563031B (en) * | 2018-01-25 | 2021-04-13 | 北京空间机电研究所 | Collimation light source for monitoring included angle of space camera |
| CN109239908A (en) * | 2018-10-22 | 2019-01-18 | 中国科学院上海技术物理研究所 | The support device of autocollimator under a kind of extreme temperature environment |
| CN109307864A (en) * | 2018-11-27 | 2019-02-05 | 上海航天测控通信研究所 | A kind of spaceborne active-passive integratedization detection device |
| CN109901140B (en) * | 2019-01-30 | 2020-09-04 | 森思泰克河北科技有限公司 | Laser radar light path deviation detection method and device and terminal equipment |
| CN109945743B (en) * | 2019-03-25 | 2021-03-16 | 由春华 | Active illumination type synchronous monitoring common-caliber tracking and aiming emission system and method |
| CN112596045B (en) * | 2020-11-11 | 2022-11-08 | 中国科学院上海光学精密机械研究所 | Multi-channel transmitting device for realizing quick high-precision calibration of transmitting optical axis |
| CN112510470A (en) * | 2020-12-01 | 2021-03-16 | 江西省中久光电产业研究院 | Laser output module positioning switching mechanism and calibration method |
| CN113093156B (en) * | 2021-03-12 | 2023-10-27 | 昆明物理研究所 | Multi-optical axis calibration system and method for LD laser range finder |
| CN114264451A (en) * | 2021-11-25 | 2022-04-01 | 中国空间技术研究院 | Real-time monitoring system and method based on common-reference optical axis included angle |
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