CN106603149A - Integration method for high-speed laser communication method and high-precision laser ranging - Google Patents
Integration method for high-speed laser communication method and high-precision laser ranging Download PDFInfo
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- CN106603149A CN106603149A CN201610533293.9A CN201610533293A CN106603149A CN 106603149 A CN106603149 A CN 106603149A CN 201610533293 A CN201610533293 A CN 201610533293A CN 106603149 A CN106603149 A CN 106603149A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/112—Line-of-sight transmission over an extended range
- H04B10/1123—Bidirectional transmission
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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Abstract
The invention discloses an integration method for high-speed laser communication and high-precision ranging. A ranging technology is integrated in a laser communication system, a ranging code with uniqueness, good self-correlation and cross-correlation properties is embedded into communication data, and is transmitted in series with the communication data after coding to achieve high-speed communication; and the received ranging code and a local ranging code are subjected to correlation operation at a receiving end to obtain a rough measurement time value of a code element width of integer multiples, and meanwhile, an accurate measurement time value in a code element of the ranging code is computed by virtue of a phase difference between a local clock and a receive recovery clock, thereby achieving integration of high-speed laser communication and high-precision ranging. The integration method disclosed by the invention adopts bidirectional single-way communication to accomplish time frequency transmission of clocks while ranging; and the integrated method disclosed by the invention can achieve high-speed laser communication and high-precision ranging without high-speed A/D conversion.
Description
Technical field
The present invention relates to the laser communication of free space and range finding field, the particularly a kind of communication of high rate laser and high-precision
The method of degree laser ranging integration.
Background technology
Laser communication has the advantages that big capacity, strong interference immunity, good confidentiality, low in energy consumption, small volume, can solve the problem that micro-
The two-forty bottleneck of wave communication, it is between star, between interorbital, synchronous satellite and deep space probe and between star ground to be recognized
Magnanimity, the effective means of Ultrahigh speed data transmission.Aircraft can be made in identical load using laser communication range finding integrated technique
Multiple-task is completed under lotus, so as to reduce the requirement to volume, power consumption, and the cost performance of system is improved.
Prior art [1] (Chengdu space communication facility company limited. the coherent pseudo-code based on MSK band spectrum modulation patterns is surveyed
Away from method：China, CN103533651 [A] .2014.1.22.) and prior art [2] (Wang Qi, Wu Bin. in light spaceflight TT＆C system
Pseudo Code Ranging Precision analyzes [J]. radio engineering, 2009,39 (1)：39～44.) in distance-finding method by pseudo noise code (range finding
Code) as the carrier wave of the communication information, increase the method for signal bandwidth and then raising chip rate to improve survey by spread spectrum communication
Away from precision, i.e. the speed of ranging code to be far longer than the speed of signal of communication and can just be realized precision distance measurement, but so
Traffic rate can be caused too low, it is impossible to meet the requirement of satellite communication, and measuring tens thousand of kilometers using continuous ranging code
Satellite distance when, need the ranging code grown very much, this can increase the time of Code acquisition.In addition, traditional pseudo-random code ranging is needed
The A/D chips of high sampling rate are wanted to come data cached, this can increase hardware cost and be difficult to realize in satellite station.
The content of the invention
It is an object of the invention to provide a kind of high rate laser communication and high-precision laser range-finding integral method, with reference to
Big, the low in energy consumption characteristic of laser communication capacity and pseudo-code have good auto-correlation and cross-correlation and low intercepting and capturing characteristic etc. excellent
Point, for traditional pseudo-random code ranging can not realize high rate communication and require process chip sample rate it is too high the shortcomings of, propose will
Ranging code is embedded in communication data, makes ranging code and communication data serial transmission, so as to realize the communication of two-forty；Receiving
Hold and the accurate measurement amount that can be realized in a range finding code element is compared using recovered clock signal and the phase place of local clock pulses.And
Receiving terminal only needs to demodulation, clock recovery, sampling judgement, decoding, it is not necessary to which high-speed a/d conversion can realize precision distance measurement.
The present invention can realize high rate laser communication and high-precision laser range-finding simultaneously, that is, realize high rate laser communication and high accuracy
The integration of laser ranging.
The technology of the present invention solution is as follows：
A kind of high rate laser communication and the method for precision distance measurement integration, including multiple range finding communication stations, its feature
It is：Including following step：
Step one：By two range finding communication stations of method of high rate laser to be performed communication and precision distance measurement integration,
The transmitting terminal and receiving terminal at hereinafter referred to as two station of A, B is aligned, at two station of A, B by with uniqueness, good auto-correlation
It is cached to locally with the ranging code and its clock signal of cross correlation, respectively as local ranging code and local clock pulses,
Then the ranging code is embedded in communication data, after warp knit code, constitutes communication distance measuring frame, ranging code is used as communication distance measuring frame
Frame head, communication distance measuring frame include frame head, communication data, postamble；
Step 2：Communication mode of two station of A, B using two-way one way, load of the communication distance measuring frame that A stands as LASER Light Source
Ripple Jing optical phase modulators are modulated, and in the same manner, B stations are identical with the work at A stations, and two stations are about scheduled on t0Moment mutually launches, due to two
The difference of ground clock, the launch time at A stations is tA0, the x time at B stations is tB0；
Step 3：A stations receive the signal of B stations transmitting, and B stations receive the signal of A stations transmitting, after two station of A, B is received
Signal be demodulated, clock recovery, sampling judgement, decoding obtain ranging code and communication data.
Step 4：Is stood in A and the local clock signal cached in the clock signal of recovery and step one is entered line phase ratio
It is right, obtain phase contrast of two clock signals within a clock cycleAnd then try to achieve a ranging code code element width at A stations
Accurate measurement time value in degreeWherein, T is the cycle of clock signal, and it is equal to the symbol width of ranging code, together
Reason is obtained the accurate measurement time value Δ T in a ranging code symbol width at B stationsB, after A stands decoding the ranging code that obtains with
The local ranging code cached in step one carries out related operation, obtains integral multiple symbol width and is bigness scale time value (nT)A, its
In, symbol widths of the T for ranging code, n is integer, and the bigness scale time value (nT) at B stations is obtained in the same mannerB；
Step 5:Calculate the distance of A, B：TARepresent A stations from the time for transmitting a signal to the signal for receiving B stations, TBTable
Show B stations from the time for transmitting a signal to the signal for receiving A stations, TA=(nT)A+ΔTA, TB=(nT)B+ΔTB, two station of A, B
Transmission delayThe clock difference Δ t between A, B apart from s and two places is calculated by following equationclk：
Wherein, c is the light velocity.
The technique effect and feature of the present invention：
1st, the present invention using ranging code as communication data frame head, ranging code and communication data serial transmission, communication data
Chip rate it is equal with the chip rate of ranging code, and the distance-finding method of traditional spread spectrum communication require ranging code code element speed
Rate is far longer than the chip rate of communication data and could realize precision distance measurement, so the present invention can realize the logical of two-forty
Letter；
2nd, the clock difference of two places can also be tried to achieve while range finding using the communication mode of two-way one waySo as to the time-frequency for completing clock is transmitted.
3rd, the present invention passes through recovered clock signal and comparing for local clock pulses can realize a ranging code code element
Interior accurate measurement；So the present invention can realize high-precision range finding.
4th, compared with traditional pseudo-random code ranging technology, the present invention only needs to demodulation, clock recovery, sampling after signal is received and sentences
Certainly, decode, it is not necessary to which high-speed a/d conversion can realize precision distance measurement.
Description of the drawings
Fig. 1 is the flow chart of the present invention.
Structure charts of the Fig. 2 for embodiments of the invention.
Composition schematic diagrams of the Fig. 3 for communication distance measuring frame.
Fig. 4 is two-way one-way communication schematic diagram.
Fig. 5 is the schematic diagram of the range finding at A stations in the present invention
Specific embodiment
With reference to the accompanying drawings and examples the present invention is described in further detail, but guarantor of the invention should not be limited with this
Shield scope.
Fig. 1 is the flow chart of the present invention, and as seen from the figure, high rate laser of the present invention communicates and precision distance measurement integration
Method, including five steps：
Step one：By two range finding communication stations of method of high rate laser to be performed communication and precision distance measurement integration,
The transmitting terminal and receiving terminal at hereinafter referred to as two station of A, B is aligned, at two station of A, B by with uniqueness, good auto-correlation
It is cached to locally with the ranging code and its clock signal of cross correlation, respectively as local ranging code and local clock pulses,
Then the ranging code is embedded in communication data, after warp knit code, constitutes communication distance measuring frame, ranging code is used as communication distance measuring frame
Frame head, communication distance measuring frame include frame head, communication data, postamble, as shown in Figure 3；
Step 2：Two station of A, B is using the communication mode of two-way one way as shown in figure 4, the communication distance measuring frame at A stations is used as laser
The carrier wave Jing optical phase modulators modulation of light source, in the same manner, B stations are identical with the work at A stations, and two stations are about scheduled on t0Moment is mutually sent out
Penetrate, due to the difference of two places clock, the launch time at A stations is tA0, the x time at B stations is tB0；
Step 3：A stations receive the signal of B stations transmitting, and B stations receive the signal of A stations transmitting, after two station of A, B is received
Signal be demodulated, clock recovery, sampling judgement, decoding obtain ranging code and communication data.
Step 4：Is stood in A and the local clock signal cached in the clock signal of recovery and step one is entered line phase ratio
It is right, obtain phase contrast of two clock signals within a clock cycleAnd then try to achieve a ranging code code element width at A stations
Accurate measurement time value in degreeWherein, T is the cycle of clock signal, and it is equal to the symbol width of ranging code, together
Reason is obtained the accurate measurement time value Δ T in a ranging code symbol width at B stationsB, after A stands decoding the ranging code that obtains with
The local ranging code cached in step one carries out related operation, obtains integral multiple symbol width and is bigness scale time value (nT)A, such as
Shown in Fig. 5, wherein, symbol widths of the T for ranging code, n is integer, and the bigness scale time value (nT) at B stations is obtained in the same mannerB；
Step 5:TARepresent A stations from the time for transmitting a signal to the signal for receiving B stations, TBRepresent that B stands from sending signal
To the time of the signal for receiving A stations, TA=(nT)A+ΔTA, TB=(nT)B+ΔTB, the transmission delay at two station of A, BAccording toWherein, c is the light velocity, can be obtained between A, B apart from s.
Structure charts of the Fig. 2 for one embodiment of the present of invention, as seen from the figure, satellite station includes the first single-frequency single-mode laser
Device 1, the first fiber optic splitter 2, the first pn code generator 3, the first signal generator 4, the first encoder 5, the first light phase are adjusted
Device processed 6, the first optical fiber circulator 7, the first optical fiber collimator 8, a 2*2 directional couplers 9, the first photoelectricity balanced detector
10th, the first clock recovery circuitry 11, first code conversion circuit the 12, first sampling decision device 13, the first decoder 14, the first phase
Bit comparator 15, the first analog correlator 16；
Earth station includes the second single-frequency single-mode laser 17, the second fiber optic splitter 18, the second pn code generator 19, second
Signal generator 20, second encoder 21, the second optical phase modulator 22, the second optical fiber circulator 23, the second optical fiber collimator
24th, the 2nd 2*2 directional couplers 25, the second photoelectricity balanced detector 26, second clock restoring circuit 27, the second code conversion electricity
The sampling of road 28, second decision device 29, the second decoder 30, second phase comparator 31, the second analog correlator 32；In satellite
Stand, the laser of the transmitting of the first single-frequency single-mode laser 1 is divided into the strong equal light of two-beam through the first fiber optic splitter 2, first
Carrier wave of the communication distance measuring frame that encoder 6 is produced as wherein light beam, through the first optical phase modulator 7, into the first light
The transmitting terminal of fine circulator 8 is port 1, then is transmitted into ground into the first optical fiber collimator 9 by the port 2 of first annular device
Stand, local oscillator light of the another light beam as satellite station completes the emission process of satellite station, and the transmitting of earth station is identical with satellite station,
Elapsed time τ, the signal of earth station's transmitting are received by the first optical fiber collimator 9, and it is entered by the port 2 of the first optical fiber circulator
It is fixed by first with local oscillator optical signal as signal, reception signal is received to the receiving terminal i.e. port 3 of the first optical fiber circulator to enter
Received to annular coupler by the detection of the first photoelectricity balanced detector, then pass sequentially through again the first clock recovery circuitry 12, the
One code conversion circuit the 13, first sampling decision device 14, the first decoder 15；By the clock signal and communication distance measuring frame of recovery
, by first phase comparator, decoded ranging code is related by the first simulation to local ranging code for local clock pulses
Device, completes the reception process of satellite station, and the reception process of earth station is identical with satellite station.
It is embodied as including following step：
Step one：Coding：The first pn code generator 3 and the second pn code generator 19 are produced in satellite station and earth station
Ranging code a (t) is respectively embedded in the communication data produced by the first signal generator 4 and secondary signal generator 20, Jing
One encoder 5 and second encoder 21 are encoded into communication distance measuring frame d (t)；
Ranging code a (t) produced by the first pn code generator 3 and the second pn code generator 19 is expressed as：
Wherein, symbol widths of the T for ranging code, anFor pseudo noise code code element, ± 1 is taken at random with equiprobability；
Communication data b (t) produced by the first signal generator 4 and secondary signal generator 20：
Communication distance measuring frame d (t) Jing after the first encoder 5 and second encoder 21 is expressed as respectively：
Wherein, length of the l for communication distance measuring frame；
Used as local clock pulses, it is expressed as the clock signal of ranging code：
Wherein, T is the cycle of clock signal, and it is equal to the symbol width of ranging code.
Step 2：Satellite station and earth station are transmitted using the communication mode of two-way one way, as shown in figure 4, the communication at two stations
Ranging frame respectively as the first single-frequency single-mode laser 1 and the second single-frequency single-mode laser 17 carrier wave in the first light phase modulation
Binary phase shift keying modulation (referred to as BPSK) is carried out under device 6 and the second optical phase modulator 22, two stations are about scheduled on t0Moment
Transmitting, due to the difference of two places clock, the launch time of satellite station is tA0, the x time of earth station is tB0；
The light field expression formula of laser of the output of the first single-frequency single-mode laser 1 of satellite station is：
Wherein, A1Represent optical field amplitude, ω1Represent frequency of light wave,Represent the initial phase of light field.First single-frequency single mode swashs
The light of the output of light device 1 is that two-way intensity is equal, polarization state identical two-beam through 2 points of the first fiber optic splitter, conduct all the way
The local oscillator light of satellite station, its light field expression formula is：
Another road as flashlight, it Jing after the first optical phase modulator 6 carries out BPSK modulation, by the first fiber annular
Device 7 and the first optical fiber collimator 8 in tA0Moment is sent to earth station, and the light field expression formula of its transmission signal is：
Satellite station local clock pulses now are expressed as：
The light field expression formula of laser of the output of the second single-frequency single-mode laser 17 of earth station is
Wherein, A2Represent optical field amplitude, ω2Represent frequency of light wave,Represent the initial phase of light field.Second single-frequency single mode swashs
The light of the output of light device 17 is that two-way intensity is equal, polarization state identical two-beam through 18 points of the second beam splitter, all the way as ground
The local oscillator light at face stationAnother road as flashlight, its second optical phase modulator of Jing 22
After carrying out BPSK modulation, by the second optical fiber circulator 23 and the second optical fiber collimator 24 and in tB0Moment as transmission signal
Satellite station is sent to, its signal expression is：
Step 3：Propagation distance s of the transmission signal of earth station through air0Satellite station is reached, satellite station is passed sequentially through
First collimator 8, the port 2 of the first optical fiber circulator 7, the port 3 of the first optical fiber circulator 7, and the local oscillator with satellite station
Optical signal is received by the first photodetector 10 by a 2*2 directional couplers 9, and the signal after reception is extensive through the first clock
Compound circuit 11, first code conversion circuit the 12, first sampling decision device 13, the first decoder 14 obtain ranging code and communication number
According to；
Doppler frequency shift is not considered, then first photodetector 10 of satellite station receives the expression formula of the signal after demodulation
For：
The t that signal after reception is obtained after the first clock recovery circuitry 11AThe clock signal at moment is：
T is obtained by the first code conversion circuit 12AThe communication distance measuring signal at moment is：
With clock signal c recoveredr(trA)Moment (rising edge of clock) is believed to gained communication distance measuring
Number d (trA) sampling obtains：
Signal after judgement i.e. by first sampling decision device 13 signal be：
Ranging code by obtaining after the first decoder 14 is again：
Decoded ranging code (is postponed with local ranging code) related operation is carried out by the first analog correlator 16 obtain
Arrive：
Correlator is in elapsed time TAAfter there is peak value because TA=tA-tA0=(nT)A++ΔTA, (nT)AIt is integral multiple
Code-element period, n is integer, and T is the symbol width of ranging code, Δ TAIt is the time value in a code element.Here several times are only rounded
Code-element period (nT)A, it as satellite station from transmit a signal to receive signal time TABigness scale time value.
The clock signal of recovery is entered line phase by first phase comparator 15 with local clock signal and is compared, and obtains one
Phase contrast in the individual clock cycleAnd then the accurate measurement time value in a ranging code code element can be tried to achieve
Wherein, T is the clock cycle, and it is equal to ranging code symbol width；
The transmission signal of satellite station is through atmospheric propagation apart from s0Earth station is reached, according to this by the second optical fiber collimator
24th, the port 2 of the second optical fiber circulator 23, the port 3 of the second optical fiber circulator 23, and pass through with the local oscillator optical signal of earth station
2nd 2*2 directional couplers 25 are by the second photodetector 26 in tBReception, the signal after reception are extensive through second clock
Compound circuit 27, second pattern translation circuit the 28, second sampling decision device 29, the second decoder 30 obtain ranging code and communication number
According to.
It is identical with the course of work of satellite station, can use same method to obtain earth station in earth station and connect from transmitting a signal to
The time T of the collection of letters numberBBigness scale time value (nT)BWith accurate measurement time value Δ TB。
Step 4：Use TARepresent that satellite station, from the time of measuring transmitted a signal to when receiving ground station signals, uses TBRepresent
Earth station from the time transmitted a signal to when receiving satellite station signal, transmission delays of the τ for two station of A, B, Δ tclkIt is two stations
Clock difference, then：
TA=Δ tclk+ τ, TB+Δtclk=τ
TA=(nT)A+ΔTA, TB=(nT)B+ΔTB
So two distance between sites of A, B are
Wherein c is the light velocity.
Ask clock signal phase poor using the method for fast discrete Fourier transformation (FFT) in the present embodiment, to local
Clock signal does the sampling of nT, and the sample for N of counting is FFT, when FFT methods seek phase contrast, as A/D quantifies and Gauss white noise
The variance of the phase difference measurement error that sound causes is：
Wherein, q=2-bFor quantization width, b is the digit that A/D quantifies, and N is sampling number, and A is the amplitude of signal, and SNR is
The signal to noise ratio of signal.
So the precision of measurement distance is：
Assume the code-element period T=1us of ranging code and communication data, then can realize the traffic rate of 1GHZ, become under Jing
Frequency clock signal frequency f0=100MHZ, takes sample frequency fs=500MHZ, A=1, sampling number N=2048, A/D are 11,
SNR=25dB, then the precision of measurement distance can reach 2.98mm.
Assume that range finding code length is N, communication data length and postamble length are M, and communication data is continuously transmitted, and is not considered
During the bit error rate, as ranging code and communication data are serial transmissions, so the measurable ultimate range of ranging code：
smax=c (M+N) T
Wherein c is the light velocity, and T is the width of code element.And traditional distance-finding method be using communication data as ranging code load
Ripple, ranging code can measure ultimate range and be：
smax=cNT
Assume using the m-sequence of 10 as ranging code, the width of code element is 1us, then traditional distance-finding method can be measured
Ultimate range is smax=3 × 108×(210-1)×10-6=30.69 × 104M, and the method for the present invention is adopted, using 5
The communication data of ranging code and 5 can measure identical distance, the digit of the ranging code required for reducing.
Claims (1)
1. a kind of high rate laser communicates and precision distance measurement integral method, including multiple range finding communication stations, it is characterised in that：
The method is comprised the following steps：
Step one：By the range finding of method two communication stations of high rate laser to be performed communication and precision distance measurement integration, below
The transmitting terminal and receiving terminal at referred to as two station of A, B is aligned, at two station of A, B by with uniqueness, good auto-correlation and mutually
The ranging code and its clock signal of correlation properties is cached to locally, respectively as local ranging code and local clock pulses, then
The ranging code is embedded in communication data, composition communication distance measuring frame after warp knit code, frame head of the ranging code as communication distance measuring frame,
Communication distance measuring frame includes frame head, communication data, postamble；
Step 2：Communication mode of two station of A, B using two-way one way, carrier wave Jing of the communication distance measuring frame that A stands as LASER Light Source
Optical phase modulator is modulated, and in the same manner, B stations are identical with the work at A stations, and two stations are about scheduled on t0Moment mutually launches, during due to two places
The difference of clock, the launch time at A stations is tA0, the x time at B stations is tB0；
Step 3：A stations receive the signal of B stations transmitting, and B stations receive the signal of A stations transmitting, the letter after two station of A, B is received
Number be demodulated, clock recovery, sampling judgement, decoding obtain ranging code and communication data.
Step 4：Stand the local clock signal cached in the clock signal of recovery and step one is entered line phase to compare in A, obtain
To phase contrast of two clock signals within a clock cycleAnd then try to achieve in the ranging code symbol width that A stands
Accurate measurement time valueWherein, T is the cycle of clock signal, and it is equal to the symbol width of ranging code, in the same manner may be used
Obtain the accurate measurement time value Δ T in a ranging code symbol width at B stationsB, the ranging code that obtains and step after A stands decoding
The local ranging code cached in one carries out related operation, obtains integral multiple symbol width and is bigness scale time value (nT)A, wherein, T
For the symbol width of ranging code, n is integer, and the bigness scale time value (nT) at B stations is obtained in the same mannerB；
Step 5:Calculate the distance of A, B：TARepresent A stations from the time for transmitting a signal to the signal for receiving B stations, TBRepresent B stations
From the time for transmitting a signal to the signal for receiving A stations, TA=(nT)A+ΔTA, TB=(nT)B+ΔTB, the transmission at two station of A, B prolongs
WhenThe clock difference Δ t between A, B apart from s and two places is calculated by following equationclk：
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| CN107167792A (en) * | 2017-06-09 | 2017-09-15 | 中国电子科技集团公司第三十四研究所 | A kind of Type of Atmospheric Laser Communication and its distance-finding method with distance measurement function |
| CN107728157A (en) * | 2017-09-22 | 2018-02-23 | 北京航天计量测试技术研究所 | A kind of all -fiber light channel structure of high-precision linear laser of frequency modulation range-measurement system |
| CN108333591A (en) * | 2018-01-18 | 2018-07-27 | 中国科学院苏州纳米技术与纳米仿生研究所 | A kind of distance measuring method and its system |
| CN109541617A (en) * | 2018-12-11 | 2019-03-29 | 湖南迈克森伟电子科技有限公司 | A kind of high speed noncoherent communication range unit and method |
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| CN110988896A (en) * | 2019-11-15 | 2020-04-10 | 中国科学院上海光学精密机械研究所 | Phase ranging device and method based on laser carrier modulation |
| CN111308488A (en) * | 2020-03-16 | 2020-06-19 | 杭州爱莱达科技有限公司 | Symmetrical pseudo-random code phase modulation all-optical focusing coherent laser method and device |
| CN112158234A (en) * | 2020-09-27 | 2021-01-01 | 北京交通大学 | Urban rail train spread spectrum distance measurement method based on composite spread spectrum sequence |
| CN112953645A (en) * | 2021-01-27 | 2021-06-11 | 吉林大学 | System and method for simultaneously realizing laser ranging and communication |
| CN116840824A (en) * | 2023-09-01 | 2023-10-03 | 天府兴隆湖实验室 | Aircraft positioning method, device and system |
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