CN109541545A - A kind of multiwavelength laser space positioning system and method - Google Patents
A kind of multiwavelength laser space positioning system and method Download PDFInfo
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- CN109541545A CN109541545A CN201811301495.6A CN201811301495A CN109541545A CN 109541545 A CN109541545 A CN 109541545A CN 201811301495 A CN201811301495 A CN 201811301495A CN 109541545 A CN109541545 A CN 109541545A
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
Abstract
The invention belongs to optics relative positioning measuring techniques, and in particular to a kind of multiwavelength laser space positioning system and method.The present invention sets up localization region, optics receiving subsystem calculates azimuth and pitch angle according to the strength information of different wave length by the laser signal of transmitting multi-wavelength in space；It is coded into temporal information in the laser signal of transmitting, with receiving time bench-marking after being received by optics receiving subsystem, distance can be calculated, and then calculate accurate 3D location information, realizes the accurate positioning to multiwavelength laser space.Simultaneously because present system is used as signal vehicle using laser, long transmission distance, meanwhile, reception feedback signal is not needed, therefore signal strength is stronger, can be realized 20 kilometers or more of remote accurate positioning.
Description
Technical field
The invention belongs to optics relative positioning measuring techniques, and in particular to a kind of multiwavelength laser space positioning system and side
Method.
Background technique
Currently, mainly there are optical imagery location technology, laser thunder using the technology that optical means carries out relative positioning measurement
Up to technology, binocular visual positioning technology etc..
Wherein, optical imagery location technology is issued cooperative target by the method for optical imagery ultraviolet/visible/infrared
Light is collected into photodetector array, and the technologies such as image procossing, pattern-recognition, feature extraction is recycled to obtain relatively clearly
Target picture extrapolates position and the range information of target finally by special algorithm.The advantages of this method, is system structure
Simply, price is low, easy to use, the disadvantage is that operating distance is close, positioning accuracy is lower.Therefore optical imagery location technology mainly exists
Low coverage and low precision occasion use.
Laser radar technique is the optical alignment measurement method quickly grown in recent years.Its scanning stable using high speed
Laser is transmitted within the scope of certain space by mechanism, is collected echo-signal using telescopic optical antenna, can be obtained the space
The accurate 3D location information and image of target, have been applied in a variety of the army and the people's equipment in range.Laser radar technique, which has, to be permitted
More advantages, positioning accuracy is higher, distance resolution is high, operating distance farther out, have both positioning and imaging function etc., still,
Positioning accuracy is inversely proportional with distance, distance remoter precision it is lower, relatively be suitble in, short range use, and Refresh Data rate it is lower,
The disadvantages of expensive, service life is restricted by sweep mechanism also constrains its use scope.
Binocular visual positioning technology is that bionics is incorporated the space-location method generated after optical image technology.Merely with
The method that a set of photo electric imaging system is detected is known as monocular vision technique, and monocular vision technique can only detect the plane of target
Information.Using two tacklings photo electric imaging system at regular intervals simultaneously to target acquisition, just can additionally obtain target away from
From information, this technology is binocular visual positioning technology.The technological merit is that positioning accuracy is higher, price is lower, the disadvantage is that
Operating distance is close, and positioning accuracy is generally required distributed system by binocular effect of distance.
In conclusion current optical relative positioning measuring technique is mainly used for the target positioning measurement of short distance, energy there is no
Enough technologies in progress high-precision 3D positioning at a distance.
Summary of the invention
The object of the present invention is to provide a kind of multiwavelength laser space positioning system and methods, to solve to use optics side
Method is in the problem for carrying out high-precision 3D positioning to target at a distance.
Technical solution of the present invention: a kind of multiwavelength laser space positioning system comprising by laser multi-wavelength emission
System 1 and optics receiving subsystem 2 form, and the laser multi-wavelength emission subsystem 1 includes launch time benchmark 3, band tail optical fiber
Laser group, combination transmitting module 8 form, wherein 3 connecting band tail optical fiber laser group of launch time benchmark, magnetic tape trailer fibre laser
Group is connected to combination transmitting module 8, is issued each magnetic tape trailer fibre laser in magnetic tape trailer fibre laser group by combination transmitting module 8
Laser output 9 forms the plane projection form offset from each other in orientation and pitching and connects for optics to have center overlapping
It receives subsystem 2 to be received, interprets plane runout information and the longitudinal direction position of laser output 9 respectively by the optics receiving subsystem 2
Information realization is set to multiwavelength laser space orientation.
The optics receiving subsystem 2 includes optical antenna 10, collimating mirror 11, spectroscope 12, dispersion element 13, convergent mirror
14, photodetector group, receiving time benchmark 19, integrated treatment module 20, convergent mirror 21, information pick-up probe 22, wherein
The optical antenna 10 receives the laser output 9 of laser multi-wavelength emission subsystem 1, collimating mirror 11, spectroscope 12, dispersion element
13, convergent mirror 14, photodetector group are sequentially arranged on 10 output light path of optical antenna, and convergent mirror 21, information receive detection
Device 22 is arranged on spectroscopical path-splitting, and the output end of photodetector group and information pick-up probe 22 is connected respectively to
Integrated treatment module 20, meanwhile, integrated treatment module 20 is connected with the receiving time benchmark for calculating multi-wavelength lengthwise position
19。
The internal components number of the magnetic tape trailer fibre laser group and photodetector group corresponds to each other.
Contain four groups of magnetic tape trailer fibre lasers in the magnetic tape trailer fibre laser group, is visited in photodetector group containing four groups of photoelectricity
Survey device.
The laser output 9 forms Gaussian beam 1, Gaussian beam 2 24, Gaussian beam 3 25, Gaussian beam 4 26,
Wherein, Gaussian beam 1 and Gaussian beam 2 24, Gaussian beam 3 25 and Gaussian beam 4 26 form one in orientation respectively
Deviation angle, Gaussian beam 1 and Gaussian beam 3 25, Gaussian beam 2 24 and Gaussian beam 4 26 are formed in pitching respectively
One deviation angle.
A kind of space-location method based on the multiwavelength laser space positioning system, launch time benchmark 3 is to band
Tail optical fiber laser group provides local zone time, and on modulating-coding to each magnetic tape trailer fibre laser, and each magnetic tape trailer fibre laser transmitting is provided
There is the laser of different wave length, and laser is reached by combination transmitting module 8 by tail optical fiber, combination transmitting module 8 emits into space
Laser output 9 out；
Optical antenna 10 collects the laser of laser output 9, projects on collimating mirror 11, collimated optical signal launch is extremely
Spectroscope 12 after a part of light transmission to dispersion element 13, the laser of different wave length out is dispersed to different directions, via convergent mirror
14 project respectively on each photodetector, and laser intensity information is sent to synthesis after photoelectric conversion by each photodetector
Processing module 20, it is more relative to laser that integrated treatment module 20 according to these strength informations just calculates optics receiving subsystem 2
The orientation and pitch angle of wavelength transmitting subsystem 1；Another part light reflected by spectroscope 12 is after the convergence of convergent mirror 21
It is received by information pick-up probe 22, and the encoded information received is reached into integrated treatment module 20, integrated treatment module 20
Launch time is translated from the encoded information, and compared with the local zone time from receiving time benchmark 19, calculates light
Learn distance of the receiving subsystem 2 relative to laser multi-wavelength emission subsystem 1, thus optics receiving subsystem 2 just measured with
The accurate relative position of laser multi-wavelength emission subsystem 1.
1 orientation of laser multi-wavelength emission subsystem and pitch position are adjustable, and laser output 9 includes the more waves of laser
Long transmitting 1 orientation of subsystem and pitch position information.
Beneficial effects of the present invention: the present invention utilizes directional characteristic, modulating-coding and the gaussian intensity characteristic of laser beam,
By emitting the laser signal of different wave length and being coded into temporal information, sky can be set up in the distance far up to tens kms
Between localization region, carrier to be positioned need to only install optics receiving subsystem, and optics receiving subsystem can be according to different wave length
Strength information calculates azimuth and pitch angle；It is coded into temporal information in the laser signal of transmitting, subsystem is received by optics
With receiving time bench-marking after system reception, distance can be calculated, and then calculate accurate 3D location information.
Present system application easy to spread can be realized remote accurate 3D positioning, have biggish military and civilian
Using practical value.
Detailed description of the invention
Fig. 1 is multiwavelength laser space positioning system structural block diagram of the present invention；
Fig. 2 is laser output plane schematic diagram；
Fig. 3 is that offset resolves schematic diagram.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing:
Referring to Fig. 1, multiwavelength laser space positioning system of the present invention includes by laser multi-wavelength emission subsystem 1 and light
Receiving subsystem 2 is learned to form.Wherein, laser multi-wavelength emission subsystem 1 include launch time benchmark 3, magnetic tape trailer fibre laser 4~
7, combination transmitting module 8 forms, and provides the laser output 9 of laser multi-wavelength emission subsystem 1.
The optics receiving subsystem 2 includes optical antenna 10, collimating mirror 11, spectroscope 12, dispersion element 13, convergent mirror
14, photodetector 15~18, receiving time benchmark 19, integrated treatment module 20, convergent mirror 21, information pick-up probe 22.
Referring to Fig. 2, multiwavelength laser space positioning system of the present invention, the 9 formation Gaussian beam 1 of laser output,
Gaussian beam 2 24, Gaussian beam 3 25, Gaussian beam 4 26, wherein Gaussian beam 1 and Gaussian beam 2 24, Gauss light
Beam 3 25 and Gaussian beam 4 26 form a deviation angle, Gaussian beam 1 and Gaussian beam 3 25, Gauss in orientation respectively
Light beam 2 24 and Gaussian beam 4 26 form a deviation angle in pitching respectively.
The space-location method of multiwavelength laser space positioning system of the present invention, detailed process is as follows:
Launch time benchmark 3 provides local zone time to magnetic tape trailer fibre laser 4~7, and modulating-coding is to magnetic tape trailer fibre laser 4
On~7, magnetic tape trailer fibre laser 4~7 launches the laser with different wavelength, and laser is reached combination transmitting by tail optical fiber
Module 8, combination transmitting module 8 launch laser output 9 into space.
Optical antenna 10 collects the laser of laser output 9, projects on collimating mirror 11, collimated optical signal launch is extremely
Spectroscope 12 after a part of light transmission to dispersion element 13, the laser of different wave length out is dispersed to different directions, via convergent mirror
14 project respectively on photodetector 15~18, and photodetector 15~18 sends out laser intensity information after photoelectric conversion
It send to integrated treatment module 20, integrated treatment module 20 can calculate 2 phase of optics receiving subsystem according to these strength informations
For the orientation and pitch angle of laser multi-wavelength emission subsystem 1.
The method of 20 computer azimuth of integrated treatment module and pitch angle is referring to Fig. 3, Gaussian beam 27,28 is sharp
Two beam Distribution of laser intensity of the light output 9 in orientation or pitch orientation, optics receiving subsystem 2 by photodetector 15~
18 have obtained after the intensity 30,31 on this two beams laser, and integrated treatment module 20 is according to the intensity 30,31 on this two beams laser
Exact position of the difference calculating optical receiving subsystem 2 in orientation or pitching reference axis 29, calculating separately out orientation and bowing
After facing upward position, orientation and pitch angle of the optics receiving subsystem 2 relative to laser multi-wavelength emission subsystem 1 have just been obtained.
Another part light reflected by spectroscope 12 is received after the convergence of convergent mirror 21 by information pick-up probe 22, and
The encoded information received is reached into integrated treatment module 20, when integrated treatment module 20 translates transmitting from the encoded information
Between, and compared with the local zone time from receiving time benchmark 19, optics receiving subsystem 2 can be calculated relative to laser
The distance of multi-wavelength emission subsystem 1.
To obtain orientation and pitch angle and the range information basis relative to laser multi-wavelength emission subsystem 1
On, accurate 3D location information can be calculated, realizes the accurate positioning to multiwavelength laser space.In addition, due to present system
Using laser as signal vehicle, long transmission distance, meanwhile, it does not need to receive feedback signal, therefore signal strength is stronger, it can
Realize 20 kilometers or more of remote accurate positioning.
When the orientation of laser multi-wavelength emission subsystem 1 or pitch position adjust, by laser multi-wavelength emission subsystem 1
Orientation and pitch position information coding enter laser output 9 in, include 1 orientation of laser multi-wavelength emission subsystem and pitching position
The light of confidence breath is received after optical antenna 10, collimating mirror 11, spectroscope 12, convergent mirror 21 by information pick-up probe 22,
And the encoded information received is reached into integrated treatment module 20, it is more that integrated treatment module 20 translates laser from the encoded information
The real-time azimuthal and pitch position information of wavelength transmitting subsystem 1.Optics receiving subsystem 2 is just able to achieve to the more waves of laser in this way
The real-time measurement of the accurate relative position of long transmitting subsystem 1.
Claims (7)
1. a kind of multiwavelength laser space positioning system, which is characterized in that including by laser multi-wavelength emission subsystem (1) and light
Receiving subsystem (2) composition is learned, the laser multi-wavelength emission subsystem (1) includes launch time benchmark (3), band tail optical fiber laser
Device group, combination transmitting module (8) composition, wherein launch time benchmark (3) connecting band tail optical fiber laser group, magnetic tape trailer fibre laser
Group is connected to combination transmitting module (8), is sent out each magnetic tape trailer fibre laser in magnetic tape trailer fibre laser group by combination transmitting module (8)
Laser output (9) out forms the plane projection form offset from each other in orientation and pitching and is to have center overlapping
Optics receiving subsystem (2) is received, and interprets the planar offset of laser output (9) respectively by the optics receiving subsystem (2)
Information and longitudinal position information are realized to multiwavelength laser space orientation.
2. multiwavelength laser space positioning system according to claim 1, which is characterized in that the optics receiving subsystem
It (2) include optical antenna (10), collimating mirror (11), spectroscope (12), dispersion element (13), convergent mirror (14), photodetector
Group, receiving time benchmark (19), integrated treatment module (20), convergent mirror (21), information pick-up probe (22), wherein described
The laser that optical antenna (10) receives laser multi-wavelength emission subsystem (1) exports (9), collimating mirror (11), spectroscope (12), color
Scattered element (13), convergent mirror (14), photodetector group are sequentially arranged on optical antenna (10) output light path, convergent mirror
(21), information pick-up probe (22) is arranged on spectroscopical path-splitting, and photodetector group and information pick-up probe
(22) output end is connected respectively to integrated treatment module (20), meanwhile, integrated treatment module (20) is connected with more for calculating
The receiving time benchmark (19) of wavelength lengthwise position.
3. multiwavelength laser space positioning system according to claim 2, which is characterized in that the magnetic tape trailer fibre laser group
It is corresponded to each other with the internal components number of photodetector group.
4. multiwavelength laser space positioning system according to claim 3, which is characterized in that the magnetic tape trailer fibre laser group
Inside contain four groups of magnetic tape trailer fibre lasers, contains four groups of photodetectors in photodetector group.
5. multiwavelength laser space positioning system according to claim 4, which is characterized in that the laser exports (9) shape
At Gaussian beam one (23), Gaussian beam two (24), Gaussian beam three (25), Gaussian beam four (26), wherein Gaussian beam one
(23) and Gaussian beam two (24), Gaussian beam three (25) and Gaussian beam four (26) form a deviation angle in orientation respectively,
Gaussian beam one (23) and Gaussian beam three (25), Gaussian beam two (24) and Gaussian beam four (26) are formed in pitching respectively
One deviation angle.
6. a kind of space-location method based on multiwavelength laser space positioning system described in claim 1, which is characterized in that hair
It penetrates time reference (3) and provides local zone time to magnetic tape trailer fibre laser group, and on modulating-coding to each magnetic tape trailer fibre laser, each magnetic tape trailer
Fibre laser launches the laser with different wave length, and laser is reached combination transmitting module (8), combination transmitting by tail optical fiber
Module (8) launches laser output (9) into space；Optical antenna (10) collects the laser of laser output (9), projects collimation
On mirror (11), collimated optical signal launch to spectroscope (12), after a part of light transmission to dispersion element (13), Xiang Butong
Direction disperses the laser of different wave length out, is projected on each photodetector respectively via convergent mirror (14), each photodetector
Laser intensity information is sent to integrated treatment module (20) after photoelectric conversion, integrated treatment module (20) is strong according to these
Degree information just calculates orientation and pitch angle of the optics receiving subsystem (2) relative to laser multi-wavelength emission subsystem (1)；
It is received after convergent mirror (21) are assembled by information pick-up probe (22) by another part light of spectroscope (12) reflection, and will
The encoded information received reaches integrated treatment module (20), when integrated treatment module (20) translates transmitting from the encoded information
Between, and compared with the local zone time from receiving time benchmark (19), optics receiving subsystem (2) is calculated relative to sharp
The distance of light multi-wavelength emission subsystem (1), so that optics receiving subsystem (2) has just been measured and laser multi-wavelength emission subsystem
The accurate relative position of system (1).
7. multiwavelength laser space-location method according to claim 6, which is characterized in that laser multi-wavelength emission
System (1) orientation and pitch position are adjustable, and laser output (9) includes laser multi-wavelength emission subsystem (1) orientation and bows
Face upward location information.
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| CN112600621A (en) * | 2020-11-30 | 2021-04-02 | 武汉光谷航天三江激光产业技术研究院有限公司 | Remote laser communication positioning device and method |
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