CN108226943B - Laser pointing recording device of satellite-borne laser range finder - Google Patents
Laser pointing recording device of satellite-borne laser range finder Download PDFInfo
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- CN108226943B CN108226943B CN201711418574.0A CN201711418574A CN108226943B CN 108226943 B CN108226943 B CN 108226943B CN 201711418574 A CN201711418574 A CN 201711418574A CN 108226943 B CN108226943 B CN 108226943B
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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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- Optical Radar Systems And Details Thereof (AREA)
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Abstract
A laser pointing recording device of a satellite-borne laser range finder comprises a light guide assembly, a lens assembly and a focal plane assembly; the light guide assembly reflects laser detection pulses sent by an external laser transmitter to the lens assembly to attenuate the energy of the laser detection pulses; the lens assembly acquires visible light radiation on the ground and receives laser detection pulses reflected by the light guide assembly, the visible light radiation and the laser detection pulses are transmitted to the focal plane assembly, and the optical axis of the lens assembly and the optical axis of a laser transmitter of an external laser range finder form a certain included angle; the focal plane assembly receives the visible light radiation and the laser detection pulse transmitted by the lens assembly and respectively images the laser detection pulse and the visible light radiation transmitted by the N light guide assemblies. The invention solves the problem of on-orbit laser pointing recording of the satellite-borne laser range finder in a surveying and mapping camera system, and the laser pointing recorded by the device is matched with the optical axis of the stereo surveying and mapping camera, thereby solving the high-precision ground target positioning and meeting the surveying and mapping requirements of a large scale.
Description
Technical Field
The invention relates to a device for recording laser pointing, in particular to a device for recording laser pointing of a satellite-borne laser range finder, which is applied to the field of surveying and mapping.
Background
The high-precision large-scale surveying and mapping system comprises a laser range finder and a three-dimensional surveying and mapping camera, and the development direction of the current surveying and mapping satellite is that the laser range finder is used for assisting the three-dimensional surveying and mapping camera to realize global large-scale uncontrolled surveying and mapping. The positioning precision of laser pulses emitted by a laser transmitter in the laser range finder is mainly influenced by a pitch angle and a yaw angle, the laser emitting direction of the satellite-borne laser range finder is continuously changed due to the influence of external environments such as weightlessness, heat alternation, micro vibration and the like and the self-shaking of the laser pulses emitted by the laser transmitter, and the installation matrix of the laser range finder and the stereo mapping camera is also changed. In order to realize high-precision ground target positioning and meet the requirement of large-scale surveying and mapping, the pointing direction of laser pulses in a surveying and mapping system needs to be recorded.
The traditional method for measuring the laser pointing direction comprises a target plate method, a four-quadrant detector method and a PSD position sensor method, wherein the target plate method is used for measuring the pointing precision of emitted laser, a target plate needs to be erected at a position (usually several kilometers) away from equipment, the laser emitted by a laser emission system is guided to the target plate, and the error between an actual light spot and a theoretical position on the target plate is read to reversely push the pointing precision of the laser emission system. The traditional four-quadrant detector method and the PSD position sensor method can only simply measure the pointing deviation of laser, cannot image the ground and cannot record the pointing direction of laser pulses in a surveying and mapping camera system.
There is no report in the current publications about on-track laser pointing recording devices.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: overcome prior art's not enough, provide a directional recorder of satellite-borne laser range finder laser, solved the directional record problem of on-orbit laser of satellite-borne laser range finder in surveying and mapping camera system, the laser through the device record is directional to be matchd with the optical axis of three-dimensional surveying and mapping camera, has solved high accuracy ground target location, satisfies large scale survey and drawing demand.
The technical scheme of the invention is as follows:
a laser pointing recording device of a satellite-borne laser range finder comprises a light guide assembly, a lens assembly/focal plane assembly;
the light guide assembly receives laser detection pulses sent by an external laser transmitter, attenuates the energy of the laser detection pulses and reflects the attenuated laser detection pulses to the lens assembly;
the lens assembly acquires visible light radiation on the ground and receives laser detection pulses reflected by the light guide assembly, the visible light radiation and the laser detection pulses are transmitted to the focal plane assembly, and the optical axis of the lens assembly and the optical axis of a laser transmitter of an external laser range finder form a certain included angle;
the focal plane assembly receives the visible light radiation and the laser detection pulse transmitted by the lens assembly and respectively images the laser detection pulse and the visible light radiation transmitted by the N light guide assemblies.
The optical axis of the laser transmitter of the external laser range finder and the optical axis of the lens component form a certain included angle of 2 degrees.
The light guide assembly includes: a metal housing and a prism; the metal shell is provided with a light inlet and a light outlet, the prism is arranged in the metal shell and provided with two opposite reflecting light planes, and the normal of the first reflecting light plane is vertical to the normal of the second reflecting light plane.
The focal plane assembly comprises at least one focal plane circuit and at least one processing circuit;
the number of the focal plane circuits is equal to that of laser transmitters of an external laser range finder, each focal plane circuit is provided with a photoelectric receiver, and the photoelectric receivers receive laser detection pulses and visible light radiation sent by corresponding light guide assemblies, convert optical signals of the laser detection pulses and the visible light radiation into digital signals and send the digital signals to the processing circuit;
the processing circuit receives the digital signal sent by the focal plane circuit, carries out digital TDI processing on the digital signal, generates a voltage telemetering signal and a temperature telemetering signal, and encodes and outputs the telemetering signal and the processed data signal.
The light guide assembly further comprises an optical wedge, the emergent light plane of the optical wedge is pasted on the surface of the prism of the light inlet of the light guide assembly, the incident light of the optical wedge and the emergent light plane of the optical wedge form an included angle of 20 'to 40', and the optical wedge is pasted with an optical filter and an attenuation sheet.
The processing circuit comprises a power distribution module, a time sequence control and image data processing module, a telemetering signal acquisition module and a data transmission module,
the power distribution module converts a power supply received from the outside into a voltage required by the processing circuit and the focal plane circuit through the EMI filter and the DC/DC converter, performs filtering processing on the power supply, and sends the converted voltage to the time sequence control and image data processing module, the telemetering signal acquisition module, the data sending module and the focal plane circuit in the processing circuit;
the time sequence control and image data processing module receives the voltage provided by the power distribution module, the FPGA device generates initialization configuration and time sequence control required by the photoelectric receiver on the focal plane circuit, receives the digital signal sent by the focal plane circuit, and sends the image data to the data sending module after the digital TDI processing is completed;
the telemetering signal acquisition module comprises a current/power monitor and a temperature sensor; the telemetering signal acquisition module acquires voltage generated by the power distribution module by adopting a current/power monitor, converts the acquired voltage into a first digital signal, acquires a temperature signal of the processing circuit by adopting a temperature sensor, converts the temperature signal into a second digital signal, and sends the first digital signal and the second digital signal to the data sending module;
and the data sending module is used for outputting the received first digital signal and second digital signal sent by the telemetering signal acquisition module and the image data sent by the time sequence control and image data processing module to the outside through a hundred-mega Ethernet physical layer interface chip.
The optical filter is used for filtering out the spectrum outside the laser detection pulse spectrum.
The number N of the light guide assemblies is equal to the number of laser transmitters of the external laser range finders.
The photoelectric receiver is an area array CMOS image sensor or an area array CCD image sensor.
The recording device also comprises a main body structure, wherein the main body structure is a polygonal columnar supporting structure and is fixedly provided with a laser transmitter, a lens component and a focal plane component of an external laser range finder respectively; the main structure is fixed on a main bearing structure of the external laser range finder.
The number of the light guide assemblies is 3.
Compared with the prior art, the invention has the beneficial effects that:
1) the optical path deflection technology is adopted, so that the recording device is simple in system and light and small in size, can record laser pulse and ground object scenes simultaneously, solves the problem that the laser energy reaching the ground is low, the signal is weak and the direct recording on the laser pulse and ground object scenes cannot be realized, and meets the on-orbit application;
2) by adopting the focal plane splicing technology, the photoelectric receiver can receive the laser pulses one to one, the size of the focal plane is increased, the requirement of a large-view-field wide-width camera is met, and the reliability of the system is improved;
3) the filtering technology is adopted, stray light outside the laser pulse wavelength is filtered, and the signal-to-noise ratio of the laser signal is improved;
4) the processing circuit adopts a voltage and temperature monitoring means, can monitor the circuit state in real time on the track, can stop the work of the focal plane assembly in time when a problem occurs, and is favorable for on-track problem troubleshooting.
Drawings
FIG. 1 is a block diagram of a laser pointing recording device of a satellite-borne laser range finder according to the present invention;
FIG. 2 is a schematic diagram of the light path of the light guide assembly of the laser pointing recording device of the present invention.
Detailed Description
Because the laser transmitter needs to transmit laser to the ground, and the recording device needs to record the ground object image and the laser spot at the same time, the optical axes of the laser transmitter and the recording device both point to the ground, but the energy of the laser pulse transmitted by the laser transmitter is weaker after the laser pulse reaches the ground, and the recording device cannot detect the laser spot image of the ground. The invention designs a laser pointing recording device of a satellite-borne laser range finder, which is provided with a light guide component structure, wherein partial laser pulses emitted by a laser transmitter of the satellite-borne laser range finder are directly guided into a lens component of the recording device through the light guide component and finally enter a focal plane component, and the laser pulses are converted into electric signals by a photoelectric receiver on the focal plane component and are output; meanwhile, the objects of the subsatellite point are incident to a lens assembly of the recording device and are converted into electric signals by a photoelectric receiver on the focal plane assembly to be output; at the moment, the recording device completes the function of simultaneously recording the laser spot and the ground object of the satellite point. And subsequently, matching the images of the points under the satellite acquired by the recording device with the images acquired by a rear-view camera in the three-dimensional mapping camera, thereby indirectly acquiring the relative angle position relation between the laser emission optical axis and the optical axis of the rear-view camera and realizing the requirement on the plane positioning precision of the elevation control point.
The specific embodiment is as follows.
As shown in fig. 1, the laser pointing recording device of the satellite-borne laser range finder comprises at least one light guide assembly, a lens assembly, a main structure, a flange structure and a focal plane assembly which are sequentially connected, wherein the main structure is a supporting structure of the device and is a polygonal columnar structure, one surface of the supporting structure is installed on a main bearing structure of the laser range finder through a screw, the other N surfaces of the supporting structure provide installation end surfaces for laser transmitters, the N surfaces are respectively provided with N channel laser transmitters, one end of the lens assembly is connected with one end of the main structure through a screw, the light guide assembly is installed at the other end of the lens assembly, the light guide assembly only shields part of the view field of the lens assembly, the other end of the main structure is connected with the focal plane assembly through the flange structure, the focal plane assembly comprises N focal plane circuits and N processing circuits, each focal plane circuit is provided with a photoelectric receiver, the light guide assembly transmits detection pulses emitted by the laser transmitter to the lens assembly until reaching the photoelectric receiver of the focal plane assembly, so that the photoelectric receiver can synchronously image laser pulses and ground targets, and surface position recording of laser pulse footprints is realized.
The light guide assembly is of a shell type structure, the shell is a metal piece, a prism, an optical wedge, an optical filter, an attenuation sheet and the like are installed inside the structure, the prism and the metal piece are isolated by a rubber mat, and the reliability is improved by injecting rubber. Fig. 2 is a schematic diagram of a laser light guide path of the laser pointing recording apparatus according to the present invention. The prism in the light guide assembly is a 180-degree turning prism, an incident light beam is inclined by 180 degrees, an optical wedge is arranged on the surface of the prism at a light inlet of the light guide assembly, a light outlet surface of the optical wedge corresponds to a light inlet surface of the prism, an incident light of the optical wedge and an emergent light plane of the optical wedge form an included angle of 20-40', superposition of laser radiation spots reflected back from the ground can be eliminated, an optical filter and an attenuation sheet are adhered to the optical wedge, the optical filter is used for filtering out a spectrum outside a laser detection pulse spectrum section, and the attenuation sheet is used for attenuating energy of the incident laser to prevent the incident laser from being excessively high and damaging a focal plane assembly.
The number of the light guide assemblies is consistent with that of the laser transmitters to be recorded, and each light guide assembly corresponds to one laser transmitter.
The lens is a transmission type lens, comprises an optical filter, a diaphragm, protective glass and a lens group, is used for collecting ground visible radiation energy and imaging the ground visible radiation energy on the focal plane assembly, receives laser detection pulse energy transmitted by the light guide assembly and images the laser detection pulse energy on the focal plane assembly.
The focal plane assembly comprises N focal plane circuits and N processing circuits, each focal plane circuit is provided with a photoelectric receiver, the number of the photoelectric receivers is consistent with that of the ranging channels, and each photoelectric receiver receives laser radiation from a corresponding transmitter and radiation of ground objects in different areas through the light guide assembly and is used for recording laser pulse footprints on shot ground surface imaging frames. And the photoelectric receivers are arranged in a staggered manner when being installed, and the ground object images formed by the plurality of photoelectric receivers are spliced, so that the ground object images with larger coverage range can be obtained. The focal plane component can synchronously image the laser pulse and a ground target, and the surface position recording of the pulse laser facula is realized.
The focal plane component is used for controlling a photoelectric receiver positioned on the focal plane circuit to perform photoelectric conversion on the received optical signal so as to realize imaging on laser pulse and ground scenery. The photoelectric receiver is an area array CMOS image sensor or an area array CCD image sensor.
The processing circuit comprises a power distribution module, a time sequence control and image data processing module, a telemetering signal acquisition module and a data transmission module, wherein the power distribution module is used for completing power supply and distribution of the processing circuit, converting a +12V secondary power supply received from the outside into various power supply voltages required by the processing circuit and a focal plane circuit through an EMI filter and a DC/DC converter, and performing filtering processing on the power supply; the time sequence control and image data processing module completes initialization configuration and corresponding time sequence control of the photoelectric receiver and digital TDI processing of image data by the FPGA device, and sends the processed data to the data sending module; the telemetering signal acquisition module finishes acquisition of telemetering signals by adopting a current/power monitor and a temperature sensor, comprises acquisition of voltage telemetering measurement and temperature telemetering measurement and analog-to-digital conversion, and transmits the converted digital signals to the data transmission module; the data sending module encodes the received image data, the voltage digital signal and the temperature digital signal and outputs the encoded image data, the voltage digital signal and the temperature digital signal through a hundred-mega Ethernet physical layer interface chip.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Those skilled in the art will appreciate that the details of the invention not described in detail in the specification are within the skill of those skilled in the art.
Claims (10)
1. The utility model provides a directional recorder of satellite-borne laser range finder laser which characterized in that: the device comprises a light guide assembly, a lens assembly and a focal plane assembly;
the light guide assembly receives laser detection pulses sent by an external laser transmitter, attenuates the energy of the laser detection pulses and reflects the attenuated laser detection pulses to the lens assembly;
the lens assembly acquires visible light radiation on the ground and receives laser detection pulses reflected by the light guide assembly, the visible light radiation and the laser detection pulses are transmitted to the focal plane assembly, and the optical axis of the lens assembly and the optical axis of a laser transmitter of an external laser range finder form a certain included angle;
the focal plane assembly receives the visible light radiation and the laser detection pulse transmitted by the lens assembly and respectively images the laser detection pulse and the visible light radiation transmitted by the N light guide assemblies.
2. The laser pointing recording device of the satellite-borne laser range finder according to claim 1, characterized in that: the certain contained angle of the optical axis of camera lens subassembly and the optical axis of the laser transmitter of outside laser range finder specifically is 2.
3. The laser pointing device of claim 1, wherein the light guide assembly comprises: a metal housing and a prism; the metal shell is provided with a light inlet and a light outlet, the prism is arranged in the metal shell and provided with two opposite reflecting light planes, and the normal of the first reflecting light plane is vertical to the normal of the second reflecting light plane.
4. The laser pointing recording device of the satellite-borne laser range finder according to claim 1, characterized in that: the focal plane assembly comprises at least one focal plane circuit and at least one processing circuit;
the number of the focal plane circuits is equal to that of laser transmitters of an external laser range finder, each focal plane circuit is provided with a photoelectric receiver, and the photoelectric receivers receive laser detection pulses and visible light radiation sent by corresponding light guide assemblies, convert optical signals of the laser detection pulses and the visible light radiation into digital signals and send the digital signals to the processing circuit;
the processing circuit receives the digital signal sent by the focal plane circuit, carries out digital TDI processing on the digital signal, generates a voltage telemetering signal and a temperature telemetering signal, and encodes and outputs the telemetering signal and the processed data signal.
5. The laser pointing recording device of the satellite-borne laser range finder according to claim 3, characterized in that: the light guide assembly further comprises an optical wedge, the emergent light plane of the optical wedge is pasted on the surface of the prism of the light inlet of the light guide assembly, the incident light of the optical wedge and the emergent light plane of the optical wedge form an included angle of 20 'to 40', and the optical wedge is pasted with an optical filter and an attenuation sheet.
6. The laser pointing recording device of the satellite-borne laser range finder according to claim 4, characterized in that: the processing circuit comprises a power distribution module, a time sequence control and image data processing module, a telemetering signal acquisition module and a data transmission module,
the power distribution module converts a power supply received from the outside into a voltage required by the processing circuit and the focal plane circuit through the EMI filter and the DC/DC converter, performs filtering processing on the power supply, and sends the converted voltage to the time sequence control and image data processing module, the telemetering signal acquisition module, the data sending module and the focal plane circuit in the processing circuit;
the time sequence control and image data processing module receives the voltage provided by the power distribution module, the FPGA device generates initialization configuration and time sequence control required by the photoelectric receiver on the focal plane circuit, receives the digital signal sent by the focal plane circuit, and sends the image data to the data sending module after the digital TDI processing is completed;
the telemetering signal acquisition module comprises a current/power monitor and a temperature sensor; the telemetering signal acquisition module acquires voltage generated by the power distribution module by adopting a current/power monitor, converts the acquired voltage into a first digital signal, acquires a temperature signal of the processing circuit by adopting a temperature sensor, converts the temperature signal into a second digital signal, and sends the first digital signal and the second digital signal to the data sending module;
and the data sending module is used for outputting the received first digital signal and second digital signal sent by the telemetering signal acquisition module and the image data sent by the time sequence control and image data processing module to the outside through a hundred-mega Ethernet physical layer interface chip.
7. The laser pointing recording device of the satellite-borne laser range finder according to claim 5, characterized in that: the optical filter is used for filtering out the spectrum outside the laser detection pulse spectrum.
8. The laser pointing recording device of the satellite-borne laser range finder according to any one of claims 1 to 7, characterized in that: the number N of the light guide assemblies is equal to the number of laser transmitters of the external laser range finders.
9. The laser direction recording device of the satellite-borne laser range finder as claimed in any one of claims 4 or 6, characterized in that:
the photoelectric receiver is an area array CMOS image sensor or an area array CCD image sensor;
the recording device also comprises a main body structure, wherein the main body structure is a polygonal columnar supporting structure and is fixedly provided with a laser transmitter, a lens component and a focal plane component of an external laser range finder respectively; the main structure is fixed on a main bearing structure of the external laser range finder.
10. The laser pointing recording device of the satellite-borne laser range finder according to claim 9, characterized in that: the number of the light guide assemblies is 3.
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| CN201711418574.0A CN108226943B (en) | 2017-12-25 | 2017-12-25 | Laser pointing recording device of satellite-borne laser range finder |
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| CN201711418574.0A CN108226943B (en) | 2017-12-25 | 2017-12-25 | Laser pointing recording device of satellite-borne laser range finder |
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| CN110794385B (en) * | 2019-10-18 | 2021-07-13 | 北京空间机电研究所 | Method and system for evaluating zero gravity pointing of laser |
| CN112013953B (en) * | 2020-07-09 | 2023-06-20 | 北京工业大学 | Beam directivity deviation calculation system of laser bar |
| CN112084621B (en) * | 2020-07-27 | 2024-04-09 | 北京空间机电研究所 | Method, medium and equipment for simulating long-distance transmission of optical fiber laser |
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