CN106546994A - Airbound target detection method based on two-way alertness quantum dot compound eye system - Google Patents

Abstract

The invention discloses a kind of airbound target detection method based on two-way alertness quantum dot compound eye system, the method is realized in the two-way alertness quantum dot laser system based on compound eye bionics optics.The system is made up of master controller, connecting rod, three axle rotator of left eye, two compound eyes of three axle rotator of right eye and left and right.The method includes five steps such as Laser emission, rough tracking, initial alignment, fine tracking, space tracking description.The invention has the beneficial effects as follows, build the active quantum dot laser emission source and sounding unit with each ommatidium channels be in accordance inside compound eye simultaneously, by the selection to wavelength and intensity, make compound eye adapt to different environment；Meanwhile, by way of the continuous scanning probe of three axle of double compound eyes, the fine tracking accuracy of extraterrestrial target being solved the problems, such as, the method for the present invention is more suitable for the three-dimensional track detection of airbound target than traditional detection system.

Description

Airbound target detection method based on two-way alertness quantum dot compound eye system

Technical field

The present invention relates to a kind of airbound target detection method, more particularly to a kind of two-way alertness based on compound eye bionics optics The moving-target three-dimensional track detection method of quantum dot laser system.

Background technology

Artificial compound eye (ACE) is a kind of optical system of simulation nature Compound Eye of Insects structure, and which is widely used at present Single aperture optical systems multiple aperture optical system replaced, make whole system miniaturization, lightweight and regard so as to reach The purpose of field increase.Abroad in Recent Years research worker has successfully made the artificial compound eye system of various different structures and purposes. Such as U.S.'s Berkeley University of California Luke P.Lee etc. are realized using macromolecule lenticule, macromolecule Taper Pipe and self-align waveguide Dome-type ACE；Ohio State University L.Li etc. has made hemisphere ACE using optical micro prism array, calculates each by accurate Ommatidium microprism section shape, realizes imaging of the wide visual field scenery on planar detector.

Based on the advantage of ACE systems, which can be widely applied to a variety of fields.Compound eye system big visual field in addition The fields such as feature, the potential ability aviation at home and abroad of its Photoelectric Detection are obtained for extensive attention.Current artificial compound eye Passive compound eye is belonged to greatly, that is, is passively received the electromagnetic wave information of outside each wave band, is then analyzed process, easily by environment The restriction of factor, affects signal to noise ratio, the sensitivity of detection, and then deteriorates the effect of detection.

In traditional airbound target detection, frequently with detection means such as radars, for the spy of target three-dimensional flight trajectory Survey and describe more difficult, as active artificial compound eye can be sent out with the active of each ommatidium channels be in accordance in compound eye internal build Source and sounding unit are penetrated, by the selection to wavelength and intensity, makes compound eye adapt to different environment, than traditional thunder It is more suitable for the three-dimensional track detection of airbound target up to system.Based on the detection system of single compound eye, due to its each ommatidium optical axis it Between angle it is constant, cause in long-range detection that each ommatidium optical axis space length is larger, it is difficult to meet detection demand.

For the problem, present invention simulation nature Compound Eye of Insects structure, propose a kind of based on two-way alertness quantum dot master The airbound target detection method of dynamic compound eye system, realizes efficient, high-precision moving-target three-dimensional track detection.

The content of the invention

It is an object of the invention to provide a kind of two-way alertness quantum dot active compound eye airbound target detection method, can meet The detection of space moving-target three-dimensional track under varying environment.

The technical scheme is that what is be achieved in, the present invention is based on two-way alertness quantum dot compound eye structural Realize in airbound target detecting system, using two compound eyes in left and right, each compound eye structural is identical for the system.The system is by master control Device processed, connecting rod, three axle rotator of left eye, three axle rotator of right eye and the compound eye composition of left and right two.Wherein：

Two compound eyes in left and right are separately mounted on three axle rotator of three axle rotator of left eye and right eye, and connecting rod is used to couple a left side Eye three axle rotator of three axle rotator and right eye；

Master controller enters so as to control two compound eyes in left and right for sending instruction to the compound eye controller of two compound eyes in left and right Row Laser emission, echo reception；Both instruction, control work is sent to three axle rotator of left eye, three axle rotator of right eye, so as to Two compound eyes are driven accurately to rotate around three axles；

Left and right compound eye structural is completely the same, is mainly made up of compound eye circuit system and multiple structure identical ommatidium units. Wherein each ommatidium unit is constituted by quantum dot laser unit and PIN photodiode；

Quantum dot laser unit is by ommatidium Laser emission window, external electrode, upper strata P-DBR, upper barrier layer, active area, amount Sub- point, lower barrier layer, lower floor N-DBR, N⁺Type substrate, interior electrode composition, are capable of achieving the transmitting of quantum dot continuous laser；

PIN photodiode is by p type semiconductor layer, intrinsic semiconductor layer, n type semiconductor layer, diode Top electrode and two Pole pipe bottom electrode is constituted, and is capable of achieving echo signal reception；

Compound eye circuit system processes module group by compound eye controller, constant-current driving source, matrix driving module and matrix signal Into；Compound eye controller is used to control constant-current driving source, matrix driving module, and the output letter of receiving matrix signal processing module Number；Constant-current driving source provides Driver injection electric current for each quantum dot laser unit；Matrix driving module is by a number of driving Circuit unit is constituted；Drive circuit unit contains diode connection pin, by diode lead and each PIN photodiode Diode Top electrode and diode bottom electrode connection connect, and provide reverse bias voltage for each PIN photodiode；Drive circuit unit Also contain signal output pin, module connection is processed by signal lead and matrix signal and is connected, by the sensing electricity of PIN photodiode Pressure signal is given matrix signal and processes module analyzing and processing；

Compound eye profile is hemispherical, and domed bottom circular flat is compound eye bottom surface, and compound eye axis is by compound eye bottom surface The straight line perpendicular to compound eye bottom surface in the center of circle, is intersected at a point with hemisphere face, i.e., compound eye axis is straight line o₁o₁' (left compound eye) and o₂o₂' (right compound eye).A series of sections perpendicular to compound eye bottom surface, as compound eye meridian plane, ommatidium unit are made by compound eye axis It is respectively positioned in compound eye meridian plane, each ommatidium unit is in angle arrangement between grade, i.e., the ommatidium optical axis included angle between each ommatidium optical axis β；Each adjacent compound eye meridian plane angle is α, and each compound eye is included altogether

N=(180 °/β -1) × (180 °/α)-[(180 °/α) -1]

Individual ommatidium unit, then this N number of ommatidium unit sequence can be numbered according to the attitude difference of ommatidium optical axis.

Left compound eye is with o₁Left compound eye rectangular coordinate system x is set up for origin₁y₁z₁, the left compound eye of three axle rotator of left eye drive is with o₁ It is center of rotation around x₁Axle, y₁Axle, z₁Axle is rotated；Similarly, right compound eye is with o₂Right compound eye rectangular coordinate system is set up for origin x₂y₂z₂, the right compound eye of three axle rotator of right eye drive is with o₂It is center of rotation around x₂Axle, y₂Axle, z₂Axle is rotated；

o₁o₂Distance be L, detection coordinate origin be o₁o₂Midpoint o, detection coordinate system be xyz.x、x₁、x₂Three axle phases It is mutually parallel；y、y₁、y₂Three axles are parallel to each other；z、z₁、z₂Three axles are parallel to each other；Moving-target three-dimensional track is retouched under detection coordinate system State；

Realized based on the airbound target detection method of two-way alertness quantum dot compound eye system according to the following steps：

(1) Laser emission

Master controller sends control instruction to the compound eye controller of two compound eyes in left and right, starts working.Compound eye controller is received To after control instruction, constant-current driving source is opened so as to produce constant current output.Dispatch from foreign news agency of the constant current by each ommatidium unit Pole is injected, then respectively through upper strata P-DBR, upper barrier layer, active area, quantum dot, lower barrier layer, lower floor N-DBR, N⁺Type is served as a contrast Bottom, then in Jing, electrode flows out.Upper strata P-DBR and lower floor N-DBR provides the high reflection of the stimulated radiation along ommatidium optical axis direction, Form laserresonator.Upper barrier layer provides electric light with lower barrier layer and limits, and reduces threshold current.When the offer of constant-current driving source When injection current is more than threshold current, the stimulated radiation of the quantum dot in active area will through multiple reflections in laserresonator Light amplification is produced, the condition of laser emitting is finally met, launches the continuous laser that wavelength is λ, and Jing along ommatidium optical axis direction Ommatidium Laser emission window is launched.Injection current uniformly flows into N number of quantum dot ommatidium laser cell, due to this N number of amount There is son point ommatidium laser cell identical geometry to be distributed with material, therefore its laser for sending has identical wavelength special Property, each compound eye finally gives N beams respectively along each ommatidium optical axis direction, is λ's by the wavelength that ommatidium Laser emission window sends Continuous laser.

(2) rough tracking

The common 2N beams wavelength of the compound eye of left and right two is launched along each ommatidium optical axis direction for the continuous laser of λ, when the space of detection When region does not have target, these laser beams do not have echo to produce；Conversely, when the area of space of detection has moving-target, Zuo Fu The continuous laser of eye certain ommatidium unit transmitting will produce reflection echo when running into moving-target, its echo-signal along backtracking, Receive through the PIN photodiode after the ommatidium Laser emission window of the ommatidium unit, so as to produce the friendship of sensing voltage signal Module analyzing and processing is processed to matrix signal；After matrix signal process module receives the voltage signal, judge to produce the signal The sequence number of ommatidium unit, and by its corresponding attitude A of ommatidium optical axis₁₀、B₁₀、C₁₀By the compound eye controller of left compound eye Give master controller；Similarly, generation is reflected back when the continuous laser of certain ommatidium unit transmitting of right compound eye runs into moving-target Ripple, its echo-signal are connect through the PIN photodiode after the ommatidium Laser emission window of the ommatidium unit along backtracking Receive, matrix signal process module analyzing and processing is given so as to produce sensing voltage signal；Matrix signal processes module and receives this After voltage signal, judge to produce the sequence number of the signal ommatidium unit, and by its corresponding attitude A of ommatidium optical axis₂₀、B₂₀、 C₂₀Master controller is given by the compound eye controller of right compound eye；

(3) initial alignment

Moving-target is in left compound eye rectangular coordinate system x₁y₁z₁Under initial position vector beIn right compound eye rectangular coordinate system x₂y₂z₂Under initial position vector beDetection coordinate system xyz under initial position vector beAccording to space geometry about Beam relation

Initial position vector is obtainedWithAccording to following vector correlation

Initial position vector can be obtained

(4) it is fine to track

Due to the ommatidium optical axis included angle (as β) between each ommatidium optical axis, and each adjacent compound eye meridian plane angle α it is relative It is larger, in long-range detection, only after moving-target has flown relatively long distance just can by compound eye in adjoining ommatidium detection Arrive, therefore finely cannot track.Airbound target detecting system of the present invention based on two-way alertness quantum dot compound eye system is using left The eye fine rotation of three axle rotator, three axle rotator of right eye under main controller controls, simulates the double compound eyes of nature insecticide Rotate the mechanism of observation, it is possible to resolve the fine tracking problem of moving-target.

After the 3rd step initial alignment is completed, master controller sends control instruction to three axle rotator of left eye, right eye Three axle rotator carry out rotation sweep pattern, and the timer inside master controller starts simultaneously at timing, i.e. real time record time ginseng Number t.I.e. left compound eye each attitude corresponding to ommatidium optical axis changes as the following formula

Similarly, each attitude corresponding to ommatidium optical axis of right compound eye changes as the following formula

In above equation, t represents the time, and k is sweep speed.

(5) space tracking description

Under fine tracking mode, △ t carry out space tracking detection sampling at timed intervals, that is, have t=M △ t, in formula, M For positive integer.

Two compound eyes in left and right launch the continuous laser that common 2N beams wavelength is λ along the ommatidium optical axis direction of each scanning, and on time Between be spaced △ t carry out echo samples；In arbitrary sampling instant t=M △ t, the continuous laser of left compound eye certain ommatidium unit transmitting Reflection echo will be produced when running into moving-target, its echo-signal along backtracking, through the ommatidium Laser emission of the ommatidium unit PIN photodiode after window is received, and gives matrix signal process module analyzing and processing so as to produce sensing voltage signal；Square After array signals processing module receives the voltage signal, judge to produce the sequence number of the signal ommatidium unit, be calculated as follows which little The corresponding attitude of eye axle

And by A₁(t)、B₁(t)、C₁T () gives master controller by the compound eye controller of left compound eye；

Similarly, the moment, the continuous laser of right compound eye certain ommatidium unit transmitting will produce reflection when running into moving-target Echo, its echo-signal are connect through the PIN photodiode after the ommatidium Laser emission window of the ommatidium unit along backtracking Receive, matrix signal process module analyzing and processing is given so as to produce sensing voltage signal；Matrix signal processes module and receives this After voltage signal, judge to produce the sequence number of the signal ommatidium unit, be calculated as follows its corresponding attitude of ommatidium optical axis

And by A₂(t)、B₂(t)、C₂T () gives master controller by the compound eye controller of left compound eye；

Moving-target under t=M △ ts, left compound eye rectangular coordinate system x₁y₁z₁Under position vector beIn right compound eye Rectangular coordinate system x₂y₂z₂Under position vector beDetection coordinate system xyz under position vector beIt is several according to space What restriction relation

Position vector is obtainedWithAccording to following vector correlation

Position vector can be obtainedEventually through position vector not in the same timeThe space three-dimensional of moving-target can be described Track, and pass throughAsk first derivative and second dervative obtain velocity to time tAnd acceleration

The invention has the beneficial effects as follows, built inside compound eye simultaneously sharp with the active quantum dot of each ommatidium channels be in accordance Photo-emission source and sounding unit, by the selection to wavelength and intensity, make compound eye adapt to different environment；Meanwhile, lead to Cross the mode of the continuous scanning probe of three axle of double compound eyes, solve the problems, such as the fine tracking accuracy of extraterrestrial target, the method for the present invention than Traditional detection system is more suitable for the three-dimensional track detection of airbound target.

Description of the drawings

Schematic diagrams of the Fig. 1-3 for the present invention, in figure：1 --- compound eye controller；2 --- constant-current driving source；3 --- compound eye Bottom surface；4 --- ommatidium optical axis；5 --- external electrode；6 --- ommatidium Laser emission window；7 --- upper strata P-DBR (notes：Mix in hole Miscellaneous type distributed bragg reflector)；8 --- upper barrier layer；9 --- active area；10 --- quantum dot；11 --- in compound eye Axle；12 --- lower barrier layer；13 --- lower floor N-DBR (notes：Electron adulterated type distributed bragg reflector)；14——N⁺Type Substrate (note：High concentration electronics doped semiconductor)；15 --- interior electrode；16 --- ommatidium optical axis included angle；17 --- ommatidium unit； 18 --- compound eye meridian plane；19 --- meridian plane angle；20 --- n type semiconductor layer (note：Electron adulterated type)；21 --- it is intrinsic Semiconductor layer；22 --- p type semiconductor layer (note：Hole doping type)；23 --- PIN photodiode (note：I.e. by p-type, originally Levy, the photodiodes of three layers of N-type semiconductor composition)；24 --- diode bottom electrode；25 --- diode Top electrode； 26 --- matrix driving module；27 --- drive circuit unit；28 --- matrix signal processes module；29 --- diode draws Line；30 --- diode couples pin；31 --- signal output pin；32 --- signal lead；33 --- compound eye circuit system； 34 --- detection coordinate origin；35 --- master controller；36 --- three axle rotator of left eye；37 --- three axle of right eye rotates Device；38 --- moving-target；39 --- connecting rod.

Specific embodiment

This method is realized in the airbound target detecting system based on two-way alertness quantum dot compound eye structural, the system Using two compound eyes in left and right, each compound eye structural is identical, such as shown in Fig. 1 (meridian plane view) and Fig. 2 (top view)；Detecting system As shown in Figure 3.

The system is by master controller 35, connecting rod 39, three axle rotator 36 of left eye, three axle rotator 37 of right eye and left and right two Compound eye is constituted.Wherein：

Two compound eyes in left and right are separately mounted on three axle rotator 37 of three axle rotator 36 of left eye and right eye, and connecting rod 39 is used for Connection three axle rotator 37 of three axle rotator 36 of left eye and right eye；

Master controller 35 is for sending instruction to the compound eye controller 1 of two compound eyes in left and right, multiple so as to control left and right two Eye carries out Laser emission, echo reception；Both instruction, control are sent to three axle rotator 36 of left eye, three axle rotator of right eye 37 Work, so as to drive two compound eyes accurately to rotate around three axles；

Left and right compound eye structural is completely the same, mainly by 17 groups of compound eye circuit system 33 and multiple structure identical ommatidium units Into.Wherein each ommatidium unit 17 is constituted by quantum dot laser unit and PIN photodiode 23；

Quantum dot laser unit is by ommatidium Laser emission window 6, external electrode 5, upper strata P-DBR7, upper barrier layer 8, active area 9th, quantum dot 10, lower barrier layer 12, lower floor N-DBR13, N⁺Type substrate 14, interior electrode 15 are constituted, and achievable quantum dot continuously swashs Light is launched, and all of backing material is GaAs (GaAs) in the present embodiment；

PIN photodiode 23 is by p type semiconductor layer 22, intrinsic semiconductor layer 21, n type semiconductor layer 20, diode Electrode 25 and diode bottom electrode 24 are constituted, and are capable of achieving echo signal reception；

Compound eye circuit system 33 is by the process of compound eye controller 1, constant-current driving source 2, matrix driving module 26 and matrix signal Module 28 is constituted；Compound eye controller 1 is used to control constant-current driving source 2, matrix driving module 26, and receiving matrix signal processing mould The output signal of group 28；Constant-current driving source 2 provides Driver injection electric current for each quantum dot laser unit；Matrix driving module 26 by A number of drive circuit unit 27 is constituted；Drive circuit unit 27 couples pin 30 containing diode, is drawn by diode Line 29 is connected with the diode Top electrode 25 and diode bottom electrode 24 of each PIN photodiode 23, is each PIN photodiode 23 provide reverse bias voltage；Drive circuit unit 27 also contains signal output pin 31, is believed with matrix by signal lead 32 Number process module 28 connect, by the sensing voltage signal of PIN photodiode 23 give matrix signal process 28 analysis of module at Reason；

Compound eye profile is hemispherical, and domed bottom circular flat is compound eye bottom surface 3, and compound eye axis 11 is by compound eye bottom 3 center of circle of face (note：Left and right two compound eye bottom surfaces center of circle is respectively o₁And o₂) the straight line perpendicular to compound eye bottom surface 3, with hemisphere face phase Meet at a bit (note：The left compound eye point is o₁', the right compound eye point is o₂'), i.e., compound eye axis 11 is straight line o₁o₁' (note：Zuo Fu Eye) and o₂o₂' (note：Right compound eye).A series of sections perpendicular to compound eye bottom surface 3, as compound eye meridian are made by compound eye axis 11 Face 18, ommatidium unit 17 are respectively positioned in compound eye meridian plane 18, each ommatidium unit 17 in waiting between angle arrangement, i.e. each ommatidium optical axis 4 it Between ommatidium optical axis included angle 16 be β, in the present embodiment β be 10 °, see the meridian plane view of Fig. 1；Each adjacent compound eye meridian plane 18 angles are α, and α is 18 ° in the present embodiment, and each compound eye is included altogether

N=(180 °/β -1) × (180 °/α)-[(180 °/α) -1]

Individual ommatidium unit 17 (N=161 in the present embodiment), then this N number of ommatidium unit 17 can be according to the sky of ommatidium optical axis 4 Between azimuth difference be numbered sequence, see the top view of Fig. 2.

Left compound eye is with o₁Left compound eye rectangular coordinate system x is set up for origin₁y₁z₁, three axle rotator 36 of left eye drives left compound eye With o₁It is center of rotation around x₁Axle, y₁Axle, z₁Axle is rotated；Similarly, right compound eye is with o₂Right compound eye rectangular coordinate system is set up for origin x₂y₂z₂, three axle rotator 37 of right eye drives right compound eye with o₂It is center of rotation around x₂Axle, y₂Axle, z₂Axle is rotated；

o₁o₂Distance be L, detection coordinate origin 34 be o₁o₂Midpoint o, detection coordinate system be xyz.x、x₁、x₂Three axles It is parallel to each other；y、y₁、y₂Three axles are parallel to each other；z、z₁、z₂Three axles are parallel to each other；38 three-dimensional track of moving-target is in detection coordinate system Lower description；

Realized based on the airbound target detection method of two-way alertness quantum dot compound eye system according to the following steps：

(1) Laser emission

Master controller 35 sends control instruction to the compound eye controller 1 of two compound eyes in left and right, starts working.Compound eye controller After 1 receives control instruction, constant-current driving source 2 is opened so as to produce constant current output.The constant current is by each ommatidium unit 17 External electrode 5 inject, then respectively through upper strata P-DBR7, upper barrier layer 8, active area 9, quantum dot 10, lower barrier layer 12, under Layer N-DBR13, N⁺Type substrate 14, then in Jing, electrode 15 flows out.Upper strata P-DBR7 and lower floor N-DBR13 is provided along ommatidium optical axis The high reflection of the stimulated radiation in 4 directions, forms laserresonator.Upper barrier layer 8 provides electric light with lower barrier layer 12 and limits, and reduces Threshold current.When the injection current that constant-current driving source 2 provides is more than threshold current, quantum dot 10 in active area 9 is excited Radiation will produce light amplification through multiple reflections in laserresonator, finally meet the condition of laser emitting, along ommatidium optical axis 4 The continuous laser that wavelength is λ is launched in direction, and Jing ommatidium Laser emission window 6 is launched.Injection current uniformly flows into N Individual quantum dot ommatidium laser cell 17, as this N number of quantum dot ommatidium laser cell 17 has identical geometry and material Distribution, therefore its laser for sending has identical wavelength characteristic, each compound eye finally gives N beams respectively along each ommatidium optical axis 4 Direction, by the continuous laser that the wavelength that ommatidium Laser emission window 6 sends is λ.

(2) rough tracking

The common 2N beams wavelength of the compound eye of left and right two is launched along each 4 direction of ommatidium optical axis for the continuous laser of λ, when the space of detection When region does not have target, these laser beams do not have echo to produce；Conversely, when the area of space of detection has moving-target 38, it is left The continuous laser of compound eye certain ommatidium unit 17 transmitting will produce reflection echo when running into moving-target 38, and its echo-signal is along former road Return, receive through the PIN photodiode 23 after the ommatidium Laser emission window 6 of the ommatidium unit 17, so as to produce sensing Voltage signal is given matrix signal process module 28 and is analyzed and processed；After matrix signal process module 28 receives the voltage signal, Judge to produce the sequence number of the signal ommatidium unit 17, and by its 4 corresponding attitude A of ommatidium optical axis₁₀、B₁₀、C₁₀By a left side The compound eye controller 1 of compound eye gives master controller 35；Similarly, the continuous laser of certain transmitting of ommatidium unit 17 of right compound eye runs into Reflection echo will be produced during moving-target 38, its echo-signal along backtracking, through the ommatidium Laser emission of the ommatidium unit 17 PIN photodiode 23 after window 6 is received, and is given at matrix signal process 28 analysis of module so as to produce sensing voltage signal Reason；Matrix signal is processed after module 28 receives the voltage signal, judges to produce the sequence number of the signal ommatidium unit 17, and by its 4 corresponding attitude A of ommatidium optical axis₂₀、B₂₀、C₂₀Master controller 35 is given by the compound eye controller 1 of right compound eye；

(3) initial alignment

Moving-target 38 is in left compound eye rectangular coordinate system x₁y₁z₁Under initial position vector beIn right compound eye rectangular coordinate It is x₂y₂z₂Under initial position vector beDetection coordinate system xyz under initial position vector beAccording to space geometry about Beam relation

Initial position vector is obtainedWithAccording to following vector correlation

Initial position vector can be obtained

(4) it is fine to track

Due to the ommatidium optical axis included angle 16 (as β) between each ommatidium optical axis 4, and each adjacent 18 angle of compound eye meridian plane α is relatively large, in long-range detection, only after moving-target 38 has flown relatively long distance just can by compound eye in it is adjoining little Eye is detected, therefore finely cannot be tracked.Airbound target detecting system of the present invention based on two-way alertness quantum dot compound eye system Using the fine rotation of three axle rotator 36 of left eye, three axle rotator 37 of right eye under the control of master controller 35, nature is simulated The double compound eyes of boundary insecticide rotate the mechanism of observation, it is possible to resolve the fine tracking problem of moving-target 38.

After the 3rd step initial alignment is completed, master controller 35 send control instruction to three axle rotator 36 of left eye, Three axle rotator 37 of right eye carries out rotation sweep pattern, and the timer inside master controller 35 starts simultaneously at timing, i.e., remember in real time Record time parameter t.I.e. left compound eye each attitude corresponding to ommatidium optical axis 4 changes as the following formula

Similarly, each attitude corresponding to ommatidium optical axis 4 of right compound eye changes as the following formula

In above equation, t represents the time, and k is sweep speed, in the present embodiment, k=π/10 radian per second.

(5) space tracking description

Under fine tracking mode, △ t carry out space tracking detection sampling at timed intervals, that is, have t=M △ t, in formula, M For positive integer, △ t=0.1 seconds in the present embodiment.

Two compound eyes in left and right launch the continuous laser that common 2N beams wavelength is λ along 4 direction of ommatidium optical axis of each scanning, and on time Between be spaced △ t carry out echo samples；In arbitrary sampling instant t=M △ t, continuous the swashing of left compound eye certain transmitting of ommatidium unit 17 Light will produce reflection echo when running into moving-target 38, and its echo-signal is swashed along backtracking, the ommatidium through the ommatidium unit 17 PIN photodiode 23 after light emission windows 6 is received, and gives matrix signal process module 28 so as to produce sensing voltage signal Analyzing and processing；After matrix signal process module 28 receives the voltage signal, judge to produce the sequence number of the signal ommatidium unit 17, It is calculated as follows its 4 corresponding attitude of ommatidium optical axis

And by A₁(t)、B₁(t)、C₁T () gives master controller 35 by the compound eye controller 1 of left compound eye；

Similarly, the moment, the continuous laser of right compound eye certain ommatidium unit 17 transmitting will be produced when running into moving-target 38 Reflection echo, its echo-signal is along backtracking, the PIN photoelectricity through after the ommatidium Laser emission window 6 of the ommatidium unit 17 Diode 23 is received, so as to produce sensing voltage signal give matrix signal process module 28 analyze and process；Matrix signal process After module 28 receives the voltage signal, judge to produce the sequence number of the signal ommatidium unit 17, be calculated as follows its ommatidium optical axis 4 Corresponding attitude

And by A₂(t)、B₂(t)、C₂T () gives master controller 35 by the compound eye controller 1 of left compound eye；

Moving-target 38 under t=M △ ts, left compound eye rectangular coordinate system x₁y₁z₁Under position vector beRight multiple Eye rectangular coordinate system x₂y₂z₂Under position vector beDetection coordinate system xyz under position vector beAccording to space Geometrical-restriction relation

Position vector is obtainedWithAccording to following vector correlation

Position vector can be obtainedEventually through position vector not in the same timeThe space three of moving-target 38 can be described Dimension track, and pass throughAsk first derivative and second dervative obtain velocity to time tAnd acceleration

Claims (1)

1. a kind of airbound target three-dimensional track detection method based on two-way alertness quantum dot compound eye system, it is based on two-way Realize in the airbound target detecting system of alert and resourceful quantum dot compound eye structural, it is characterised in that detection method is comprised the following steps：

1) Laser emission

Master controller sends control instruction to the compound eye controller of two compound eyes in left and right, starts working.Compound eye controller receives control After system instruction, constant-current driving source is opened so as to produce constant current output.The constant current is noted by the external electrode of each ommatidium unit Enter, then respectively through upper strata P-DBR, upper barrier layer, active area, quantum dot, lower barrier layer, lower floor N-DBR, N⁺Type substrate, Then in Jing, electrode flows out.Upper strata P-DBR and lower floor N-DBR provides the high reflection of the stimulated radiation along ommatidium optical axis direction, shape Into laserresonator.Upper barrier layer provides electric light with lower barrier layer and limits, and reduces threshold current.When the note that constant-current driving source provides When entering electric current more than threshold current, the stimulated radiation of the quantum dot in active area will be produced through multiple reflections in laserresonator The third contact of a total solar or lunar eclipse amplifies, and finally meets the condition of laser emitting, launches the continuous laser that wavelength is λ along ommatidium optical axis direction, and Jing is little Eye Laser emission window is launched.Injection current uniformly flows into N number of quantum dot ommatidium laser cell, due to this N number of quantum There is point ommatidium laser cell identical geometry to be distributed with material, therefore its laser for sending has identical wavelength special Property, each compound eye finally gives N beams respectively along each ommatidium optical axis direction, is λ's by the wavelength that ommatidium Laser emission window sends Continuous laser；

2) rough tracking

The common 2N beams wavelength of the compound eye of left and right two is launched along each ommatidium optical axis direction for the continuous laser of λ, when the area of space of detection During without target, these laser beams do not have echo to produce；Conversely, when the area of space of detection has moving-target, left compound eye The continuous laser of individual ommatidium unit transmitting will produce reflection echo when running into moving-target, and its echo-signal is passed through along backtracking PIN photodiode after the ommatidium Laser emission window of the ommatidium unit is received, and gives square so as to produce sensing voltage signal Array signals processing module is analyzed and processed；After matrix signal process module receives the voltage signal, judge to produce the signal ommatidium The sequence number of unit, and by its corresponding attitude A of ommatidium optical axis₁₀、B₁₀、C₁₀Given by the compound eye controller of left compound eye Master controller；Similarly, reflection echo will be produced when the continuous laser of certain ommatidium unit transmitting of right compound eye runs into moving-target, its Echo-signal is received through the PIN photodiode after the ommatidium Laser emission window of the ommatidium unit along backtracking, so as to Produce sensing voltage signal and give matrix signal process module analyzing and processing；Matrix signal processes module and receives the voltage signal Afterwards, judge to produce the sequence number of the signal ommatidium unit, and by its corresponding attitude A of ommatidium optical axis₂₀、B₂₀、C₂₀By the right side The compound eye controller of compound eye gives master controller；

3) initial alignment

Moving-target is in left compound eye rectangular coordinate system x₁y₁z₁Under initial position vector beIn right compound eye rectangular coordinate system x₂y₂z₂ Under initial position vector beDetection coordinate system xyz under initial position vector beLeft and right compound eye rectangular coordinate system is former Point distance is L；According to space geometry restriction relation

$\left\{\begin{array}{c}\left|{\stackrel{\→}{r}}_{10}\right|\cos A_{10}-\left|{\stackrel{\→}{r}}_{20}\right|\cos A_{20}=L\\ \left|{\stackrel{\→}{r}}_{10}\right|\cos C_{10}=\left|{\stackrel{\→}{r}}_{20}\right|\cos C_{20}\end{array}\right.$

Initial position vector is obtainedWithAccording to following vector correlation

${\stackrel{\→}{r}}_{10}={\stackrel{\→}{r}}_{10}-\frac{L}{2}\stackrel{\→}{i}$

Initial position vector can be obtainedFor x directions unit vector；

4) it is fine to track

After the 3rd step initial alignment is completed, master controller sends control instruction to three axle rotator of left eye, three axle of right eye Rotator carries out rotation sweep pattern, and the timer inside master controller starts simultaneously at timing, i.e. real time record time parameter t. I.e. left compound eye each attitude corresponding to ommatidium optical axis changes as the following formula

$\left\{\begin{array}{c}{A}_1\left(t\right)=A_{10}+kt\\ B_1\left(t\right)=B_{10}+kt\\ C_1\left(t\right)=C_{10}+kt\end{array}\right.$

Similarly, each attitude corresponding to ommatidium optical axis of right compound eye changes as the following formula

$\left\{\begin{array}{c}{A}_2\left(t\right)=A_{20}+kt\\ B_2\left(t\right)=B_{20}+kt\\ C_2\left(t\right)=C_{20}+kt\end{array}\right.$

In above equation, t represents the time, and k is sweep speed；

5) space tracking description

Under fine tracking mode, △ t carry out space tracking detection sampling at timed intervals, that is, have t=M △ t, and in formula, M is for just Integer；

Two compound eyes in left and right launch the continuous laser that common 2N beams wavelength is λ along the ommatidium optical axis direction of each scanning, and temporally between Echo samples are carried out every △ t；In arbitrary sampling instant t=M △ t, the continuous laser of left compound eye certain ommatidium unit transmitting runs into Reflection echo will be produced during moving-target, its echo-signal along backtracking, through the ommatidium Laser emission window of the ommatidium unit PIN photodiode afterwards is received, and gives matrix signal process module analyzing and processing so as to produce sensing voltage signal；Matrix is believed Number process after module receives the voltage signal, judge to produce the sequence number of the signal ommatidium unit, be calculated as follows its little eye The corresponding attitude of axle

$\left\{\begin{array}{c}{A}_1\left(t\right)=A_{10}+kt\\ B_1\left(t\right)=B_{10}+kt\\ C_1\left(t\right)=C_{10}+kt\end{array}\right.$

And by A₁(t)、B₁(t)、C₁T () gives master controller by the compound eye controller of left compound eye；

Similarly, the moment, the continuous laser of right compound eye certain ommatidium unit transmitting will produce reflection echo when running into moving-target, Its echo-signal is received through the PIN photodiode after the ommatidium Laser emission window of the ommatidium unit along backtracking, from And produce sensing voltage signal and give matrix signal process module analyzing and processing；Matrix signal processes module and receives voltage letter After number, judge to produce the sequence number of the signal ommatidium unit, be calculated as follows its corresponding attitude of ommatidium optical axis

$\left\{\begin{array}{c}{A}_2\left(t\right)=A_{20}+kt\\ B_2\left(t\right)=B_{20}+kt\\ C_2\left(t\right)=C_{20}+kt\end{array}\right.$

And by A₂(t)、B₂(t)、C₂T () gives master controller by the compound eye controller of left compound eye；

Moving-target under t=M △ ts, left compound eye rectangular coordinate system x₁y₁z₁Under position vector beAt right compound eye right angle Coordinate system x₂y₂z₂Under position vector beDetection coordinate system xyz under position vector beAccording to space geometry about Beam relation

$\left\{\begin{array}{c}\left|{\stackrel{\→}{r}}_1\left(t\right)\right|{\mathrm{cosA}}_1\left(t\right)-\left|{\stackrel{\→}{r}}_2\left(t\right)\right|\cos A_2\left(t\right)=L\\ \left|{\stackrel{\→}{r}}_1\left(t\right)\right|\cos C_1\left(t\right)=\left|{\stackrel{\→}{r}}_2\left(t\right)\right|\cos C_2\left(t\right)\end{array}\right.$

Position vector is obtainedWithAccording to following vector correlation

$\stackrel{\→}{r}\left(t\right)={\stackrel{\→}{r}}_1\left(t\right)-\frac{L}{2}\stackrel{\→}{i}$

Position vector can be obtainedEventually through position vector not in the same timeThe space three-dimensional track of moving-target can be described, And pass throughAsk first derivative and second dervative obtain velocity to time tAnd acceleration