CN108989718A - Beacon beam acquisition and tracking device and beacon beam method for capturing and tracing - Google Patents
Beacon beam acquisition and tracking device and beacon beam method for capturing and tracing Download PDFInfo
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- CN108989718A CN108989718A CN201810776690.8A CN201810776690A CN108989718A CN 108989718 A CN108989718 A CN 108989718A CN 201810776690 A CN201810776690 A CN 201810776690A CN 108989718 A CN108989718 A CN 108989718A
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- beacon beam
- center
- optical devices
- spot
- signal
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/70—SSIS architectures; Circuits associated therewith
- H04N25/76—Addressed sensors, e.g. MOS or CMOS sensors
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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
- H04B10/40—Transceivers
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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
- H04B10/50—Transmitters
- H04B10/501—Structural aspects
- H04B10/503—Laser transmitters
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- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Optics & Photonics (AREA)
- Multimedia (AREA)
- Optical Communication System (AREA)
Abstract
The invention discloses a kind of beacon beam acquisition and tracking devices, are related to wireless beacon light technical field, including Optical devices, executing agency, cmos image sensor, FPGA and controller.The Optical devices are for receiving beacon beam and transmitting spot signal；The executing agency carries Optical devices, and the angle of beacon beam is received for adjusting the Optical devices；The cmos image sensor is used to incude the spot signal of the Optical devices output, the electric signal of output pixel point gray value；The FPGA calculates the size of spot center location error and cmos image sensor sensitive light spots signal window next time；The movement of controller control executing agency, makes beacon beam gradually approach the inspection center of the Optical devices.The invention also discloses a kind of beacon beam method for capturing and tracing.The present invention can increase the capture frame number of beacon beam under identical clock frequency, shorten the beacon beam acquisition and tracking time, improve acquisition and tracking efficiency.
Description
Technical field
The present invention relates to technical field of laser communication, and in particular to a kind of beacon beam acquisition and tracking device and beacon beam are caught
Obtain tracking.
Background technique
Laser communication is as a kind of novel means of communication, and because it has, channel capacity is big, rate is high, strong security, mistake
The advantages that code rate is low, spreadability is wide has been more and more widely used.
During laser communication, it is ensured that stable communication, the most key step are exactly to establish laser communication chain
Road.The establishment process of laser communication link is exactly the acquisition and tracking process to beacon beam spatially.At this stage to beacon beam
The time that acquisition and tracking needs to spend is longer, and efficiency is lower, so that the real-time performance of communication is insufficient, it is difficult to satisfy the use demand.
Summary of the invention
In view of the deficiencies in the prior art, the purpose of the present invention is to provide a kind of beacon beam acquisition and tracking device,
Its capture frame number that can increase beacon beam under identical clock frequency shortens the beacon beam acquisition and tracking time, improves acquisition and tracking
Efficiency.
To achieve the above objectives, the technical solution adopted by the present invention is that: a kind of beacon beam acquisition and tracking device includes:
Optical devices, the Optical devices are for receiving beacon beam and transmitting spot signal；
Executing agency, the executing agency carry Optical devices, and the angle of beacon beam is received for adjusting the Optical devices
Degree；
Cmos image sensor, the cmos image sensor are used to incude the spot signal of the Optical devices output,
The electric signal of output pixel point gray value；
FPGA, the FPGA are used to receive the pixel gray value electric signal of the cmos image sensor output, calculate
Center error and cmos image sensor next time sensitive light spots signal window of the hot spot relative to Optical devices inspection center
The size of mouth；
Controller, the controller are used to receive the spot center location error that the FPGA is calculated, and control executing agency
Movement, and then the angle that Optical devices receive beacon beam is adjusted, approach beacon beam gradually in the detection of the Optical devices
The heart.
Based on the above technical solution, the FPGA is used to calculate the center-of-mass coordinate of hot spot using centroid algorithm
(Cx, Cy), and by the coordinate (Cx of center-of-mass coordinate (Cx, Cy) and inspection center0, Cy0) subtract each other to obtain the spot center position
Error.
Based on the above technical solution, cmos image sensor sensitive light spots signal window next time is big
It is less than the size of current sensitive light spots signal window, and the region of sensitive light spots signal window includes in detection next time
The heart is the center of circle, and center error is the circle of radius.
Based on the above technical solution, described device further includes display, and the FPGA is also used to pixel ash
The electric signal of angle value is converted to light spot image data, and the display shows hot spot according to light spot image data.
Based on the above technical solution, the FPGA is the cmos image sensor configurable clock generator, frame is effectively believed
Number and row useful signal.
The present invention also provides a kind of beacon beam method for capturing and tracing using above-mentioned beacon beam acquisition and tracking device, packets
Include following steps:
S1, Optical devices scan capture beacon beam, and transmit spot signal；
S2, cmos image sensor light spot received signal, and the electric signal of output pixel point gray value；
S3, FPGA receive the electric signal of pixel gray value, calculate center of the hot spot relative to Optical devices inspection center
Location error；
S4, controller receives the spot center location error that FPGA is calculated, the movement of control executing agency, and then adjusts light
The angle that device receives beacon beam is learned, makes the inspection center of Optical devices close to beacon beam；
S5, FPGA calculate cmos image sensor sensitive light spots signal window next time according to spot center location error
Size；
S6 repeats step S2 to S5, beacon beam is made gradually to approach the inspection center of the Optical devices.
Based on the above technical solution, FPGA is calculated under cmos image sensor according to spot center location error
The step of sensitive light spots signal window size includes:
The center-of-mass coordinate (Cx, Cy) of hot spot is calculated using centroid algorithm, and by center-of-mass coordinate (Cx, Cy) and inspection center
Coordinate (Cx0, Cy0) subtract each other to obtain the spot center location error；
On the basis of inspection center is the center of circle, center error is the circle of radius, cmos image is sensed next time for building
Device sensitive light spots signal window, and make the region of sensitive light spots signal window next time include the circle, and be less than current window
Size.
Based on the above technical solution, the FPGA is also used to the electric signal of pixel gray value being converted to light
Spot image data is simultaneously shown by display.
Based on the above technical solution, the FPGA is the cmos image sensor configurable clock generator, frame is effectively believed
Number and row useful signal.
Compared with the prior art, the advantages of the present invention are as follows:
(1) beacon beam acquisition and tracking device of the invention can be according to beacon beam and detection during acquisition and tracking
The window of cmos image sensor sensitive light spots signal constantly is reduced in the position at center, can increase under identical clock frequency
The capture frame number of beacon beam shortens the hot spot beacon beam acquisition and tracking time, improves acquisition and tracking efficiency.
(2) beacon beam acquisition and tracking device of the invention can be according to beacon beam and detection during acquisition and tracking
The window of cmos image sensor sensitive light spots signal constantly is reduced in the position at center, reduce introduce more bias lights and
Noise improves the effect of cmos image sensor sensitive light spots signal.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of beacon beam acquisition and tracking device in the embodiment of the present invention；
Fig. 2 is a kind of flow diagram of beacon beam method for capturing and tracing in the embodiment of the present invention.
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and embodiments.
Shown in Figure 1, the embodiment of the present invention provides a kind of beacon beam acquisition and tracking device, comprising: Optical devices are held
Row mechanism, cmos image sensor, FPGA and controller.
Optical devices are for receiving beacon beam and transmitting spot signal.Specifically, Optical devices by reflecting mirror, light combination mirror,
The optical devices such as optical antenna composition receives beacon beam and transmits spot signal.
Executing agency carries Optical devices, and the angle of beacon beam is received for adjusting Optical devices.Specifically, machine is executed
Structure includes the platform of servo motor and carrying Optical devices, and executing agency can adjust the angle of Optical devices according to control instruction
Degree is to receive beacon beam.
Cmos image sensor is used to incude the spot signal of Optical devices transmission, the telecommunications of output pixel point gray value
Number.Specifically, the spot signal of Optical devices transmission is irradiated to CMOS imaging sensor, and cmos image sensor induction generates
The electric signal of pixel gray value.
FPGA is used to receive the pixel gray value electric signal of the cmos image sensor output, and it is opposite to calculate hot spot
In Optical devices inspection center center error and CMOS imaging sensor sensitive light spots signal window next time it is big
It is small.Specifically, FPGA is used to calculate the center-of-mass coordinate (Cx, Cy) of hot spot using centroid algorithm, and by center-of-mass coordinate (Cx, Cy)
With the coordinate (Cx of inspection center0, Cy0) subtract each other to obtain the spot center location error.Indicate pixel in CMOS with (x, y)
Coordinate position in imaging sensor focal plane, v (x, y) are the corresponding gray value of the pixel, then facula mass center coordinate calculates
Formula can indicate are as follows:
Wherein, W (x, y) indicates the weight of each pixel during centroid calculation, if pixel background gray levels are T,
The then calculation formula of weight W (x, y) are as follows:
Meanwhile cmos image sensor next time sensitive light spots signal window size be less than current sensitive light spots signal
The size of window, and the region of sensitive light spots signal window includes using inspection center as the center of circle next time, center error is
The circle of radius.Specifically, during acquisition and tracking, the selection of cmos image sensor sensitive light spots signal window size can be with
Take scheme as shown in the table:
| Window size | Location error size |
| Full window 320*256 (initial) | d1≤ d < d0 |
| M1×N1 | d2< d < d1 |
| M2×N2 | dHot spot< d < d2 |
It is assumed that the initial error distance of beacon beam is d0, full window is set at this time, acquisition and tracking is being carried out to beacon beam
In the process, hot spot error position is gradually reduced, when decreasing below d1When, setting window size is M1 × N1, this window includes
Using inspection center as the center of circle, d1For the circle of radius；When hot spot error position decreases below d2And when being greater than spot diameter, setting
Window size is M2 × N2, this window includes the d using inspection center as the center of circle2For the circle of radius.It, can be with according to different situations
Different types of window size is set.Since window is being gradually reduced, the frame frequency of acquisition and tracking process is being gradually increased, from whole
From the point of view of a acquisition and tracking process, the acquisition and tracking time can reduce.
Controller is used to receive the spot center location error of FPGA calculating, the movement of control executing agency, and then adjusts light
The angle that device receives beacon beam is learned, beacon beam is made gradually to approach the inspection center of Optical devices.Optionally, use PLC can be with
The servo motor of executing agency is directly calculated and controls, precision is high, and real-time is good.
As preferred embodiment, device further includes display, and FPGA is also used to the electricity of pixel gray value
Signal is converted to light spot image data, and display shows hot spot according to light spot image data.It can intuitively be seen by display
To the effect of acquisition and tracking beacon beam.
As preferred embodiment, FPGA is cmos image sensor configurable clock generator, frame useful signal and row
Useful signal, enable cmos image sensor efficiently sensitive light spots signal and adjustment sensitive light spots signal window it is big
It is small.
Shown in Figure 2, the present invention also provides a kind of beacon beams using above-mentioned beacon beam acquisition and tracking device to capture
Tracking, comprising the following steps:
S1, Optical devices scan capture beacon beam, and transmit spot signal.Specifically, Optical devices are by reflecting mirror, conjunction
The optical devices such as Shu Jing, optical antenna composition, can receive beacon beam and transmits spot signal.
S2, cmos image sensor light spot received signal, and the electric signal of output pixel point gray value.Specifically, optics
The spot signal of device transmission is irradiated to cmos image sensor, and cmos image sensor induction generates pixel gray value
Electric signal.
S3, FPGA receive the electric signal of pixel gray value, calculate center of the hot spot relative to Optical devices inspection center
Location error.Specifically, using centroid algorithm calculate hot spot center-of-mass coordinate (Cx, Cy), and by center-of-mass coordinate (Cx, Cy) with
Coordinate (the Cx of inspection center0, Cy0) subtract each other to obtain the spot center location error.Indicate pixel in CMOS with (x, y)
Coordinate position in imaging sensor focal plane, v (x, y) are the corresponding gray value of the pixel, then facula mass center coordinate calculates
Formula can indicate are as follows:
Wherein, W (x, y) indicates the weight of each pixel during centroid calculation, if pixel background gray levels are T,
The then calculation formula of W (x, y) weight are as follows:
S4, controller receives the spot center location error of FPGA, the movement of control executing agency, and then adjusts optics dress
The angle for receiving beacon beam is set, makes the inspection center of Optical devices close to beacon beam.Optionally, it can directly be calculated using PLC
And the servo motor of executing agency is controlled, precision is high, and real-time is good.
S5, FPGA calculate cmos image sensor sensitive light spots signal window next time according to spot center location error
Size.Specifically, on the basis of inspection center is the center of circle, center error is the circle of radius, cmos image next time is constructed
Sensor sensing spot signal window, and make the region of sensitive light spots signal window next time include the circle, and be less than current
The size of window.Selection about cmos image sensor sensitive light spots signal window size during acquisition and tracking can adopt
Take scheme as shown in the table:
| Window size | Location error size |
| Full window 320*256 (initial) | d1≤ d < d0 |
| M1×N1 | d2< d < d1 |
| M2×N2 | dHot spot< d < d2 |
It is assumed that the initial error distance of beacon beam is d0, full window is set at this time, acquisition and tracking is being carried out to beacon beam
During, hot spot error position is gradually reduced, when decreasing below d1When, setting window size is M1 × N1, this window packet
Containing using inspection center as the center of circle, d1For the circle of radius.When hot spot error position decreases below d2And when being greater than spot diameter, if
Setting window size is M2 × N2, this window includes the d using inspection center as the center of circle2For the circle of radius.It, can according to different situations
Different types of window size is arranged.Since window is being gradually reduced, the frame frequency of acquisition and tracking process is being gradually increased, from
From the point of view of entire acquisition and tracking process, the acquisition and tracking time can reduce.
S6 repeats step S2 to S5, beacon beam is made gradually to approach the inspection center of the Optical devices.
As preferred embodiment, the FPGA is also used to the electric signal of pixel gray value being converted to light
Spot image data is simultaneously shown by display.The effect of acquisition and tracking beacon beam can be intuitively seen by display.
As preferred embodiment, FPGA is cmos image sensor configurable clock generator, frame useful signal and row
Useful signal, enable cmos image sensor efficiently sensitive light spots signal and adjustment sensitive light spots signal window it is big
It is small.
The present invention is not limited to the above-described embodiments, for those skilled in the art, is not departing from
Under the premise of the principle of the invention, several improvements and modifications can also be made, these improvements and modifications are also considered as protection of the invention
Within the scope of.The content being not described in detail in this specification belongs to the prior art well known to professional and technical personnel in the field.
Claims (9)
1. a kind of beacon beam acquisition and tracking device characterized by comprising
Optical devices, the Optical devices are for receiving beacon beam and transmitting spot signal；
Executing agency, the executing agency carry Optical devices, and the angle of beacon beam is received for adjusting the Optical devices；
Cmos image sensor, the cmos image sensor are used to incude the spot signal of the Optical devices transmission, output
The electric signal of pixel gray value；
FPGA, the FPGA are used to receive the pixel gray value electric signal of the cmos image sensor output, calculate hot spot
Center error and cmos image sensor relative to Optical devices inspection center sensitive light spots signal window next time
Size；
Controller, the controller are used to receive the spot center location error that the FPGA is calculated, and control executing agency moves,
And then the angle that Optical devices receive beacon beam is adjusted, so that beacon beam is gradually approached the inspection center of the Optical devices.
2. beacon beam acquisition and tracking device as described in claim 1, it is characterised in that: the FPGA is used to use centroid algorithm
The center-of-mass coordinate (Cx, Cy) of hot spot is calculated, and by the coordinate (Cx of center-of-mass coordinate (Cx, Cy) and inspection center0, Cy0) subtract each other to obtain
The spot center location error.
3. beacon beam acquisition and tracking device as described in claim 1, it is characterised in that: the cmos image sensor is next time
The size of sensitive light spots signal window is less than the size of current sensitive light spots signal window, and sensitive light spots signal window next time
Region include by the center of circle, center error of inspection center be the circle of radius.
4. beacon beam acquisition and tracking device as described in claim 1, it is characterised in that: described device further includes display, institute
It states FPGA to be also used to the electric signal of pixel gray value being converted to light spot image data, the display is according to light spot image number
According to display hot spot.
5. beacon beam acquisition and tracking device as described in claim 1, it is characterised in that: the FPGA is cmos image biography
Sensor configurable clock generator, frame useful signal and row useful signal.
6. a kind of beacon beam method for capturing and tracing using beacon beam acquisition and tracking device described in claim 1, feature exist
In, comprising the following steps:
S1, Optical devices scan capture beacon beam, and transmit spot signal；
S2, cmos image sensor light spot received signal, and the electric signal of output pixel point gray value；
S3, FPGA receive the electric signal of pixel gray value, calculate center of the hot spot relative to Optical devices inspection center
Error；
S4, controller receives the spot center location error that FPGA is calculated, the movement of control executing agency, and then adjusts Optical devices
The angle for receiving beacon beam, makes the inspection center of Optical devices close to beacon beam；
S5, FPGA calculate cmos image sensor sensitive light spots signal window size next time according to spot center location error；
S6 repeats step S2 to S5, beacon beam is made gradually to approach the inspection center of the Optical devices.
7. method as claimed in claim 6, it is characterised in that: FPGA calculates cmos image according to spot center location error and passes
Sensor next time sensitive light spots signal window size the step of include:
The center-of-mass coordinate (Cx, Cy) of hot spot is calculated using centroid algorithm, and by the coordinate of center-of-mass coordinate (Cx, Cy) and inspection center
(Cx0, Cy0) subtract each other to obtain the spot center location error；
On the basis of inspection center is the center of circle, center error is the circle of radius, sensitive light spots signal window next time is constructed,
And the region of sensitive light spots signal window next time is set to include the circle, and be less than the size of current window.
8. method as claimed in claim 6, it is characterised in that: the FPGA is also used to turn the electric signal of pixel gray value
It is changed to light spot image data and is shown by display.
9. method as claimed in claim 6, it is characterised in that: the FPGA be the cmos image sensor configurable clock generator,
Frame useful signal and row useful signal.
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| CN201810776690.8A CN108989718B (en) | 2018-07-13 | 2018-07-13 | Beacon light capturing and tracking device and beacon light capturing and tracking method |
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| CN111962338A (en) * | 2020-06-30 | 2020-11-20 | 中铁第四勘察设计院集团有限公司 | Intelligent lofting system for high-speed railway ballastless track base |
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