CN110133677B - Integrated navigation sensor - Google Patents
Integrated navigation sensor Download PDFInfo
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- CN110133677B CN110133677B CN201910561196.4A CN201910561196A CN110133677B CN 110133677 B CN110133677 B CN 110133677B CN 201910561196 A CN201910561196 A CN 201910561196A CN 110133677 B CN110133677 B CN 110133677B
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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
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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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
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses an integrated navigation sensor, which comprises a lens component, a short-distance high-precision distance measuring machine, a high peak power laser, a PSbox and an electric control component, wherein the lens component is arranged on the front end of the lens component; the lens component comprises a main supporting part, a front light path part, a rear light path part and an outer cover part, wherein the outer cover part is arranged above the main supporting part, the front light path part is positioned at the left end of the outer cover part, and a main reflector is arranged at the right end of the outer cover part in the vertical direction; the rear light path component is positioned at the right end of the main reflector and comprises an infrared rear light path component, a prism component and a visible rear light path component, the prism component is arranged on the front side of the main reflector, and the infrared rear light path component is positioned above the prism component; the rear optical path member is visible to be located at the right end of the prism member. The signal-to-noise ratio, the imaging quality and the position precision can be improved, the stability and the whole machine resonance frequency are ensured, and the difficulty of thermal control measures is reduced.
Description
Technical Field
The invention relates to the technical field of space optics, in particular to an integrated navigation sensor.
Background
At present, deep space exploration becomes a hot problem in the field of international space exploration, especially the development of the aerospace industry in China is a rapid leap forward, and in order to meet the higher requirement of the precision of a spacecraft navigation sensor, an optical navigation sensor calibration system is widely applied as optical navigation sensor ground calibration detection equipment. The society puts forward more strict requirements on optical systems, and observes and the like, especially for detecting and quickly and efficiently capturing related targets, and meanwhile, high-precision tracking and measuring tasks are realized, and the society slowly develops into the main trend of the development of the current optical systems. In order to obtain richer detection data, new dual-band and multi-band schemes are designed. The system can realize the high-efficiency detection of a plurality of wave bands and realize the high-efficiency detection operation aiming at the detected objects of various types. This is a function that cannot be achieved by a single optical system, and therefore multi-band complex measurements are required.
The target can be compositely tracked by a visible light camera and infrared in the daytime, the target can be tracked by a wave infrared camera at night and compositely detected with laser, stable tracking of a moving target and accurate pointing of the laser can be realized, and distance measurement of the target can be realized.
Disclosure of Invention
The invention provides an integrated navigation sensor aiming at the problems, which comprises a lens component, a short-distance high-precision distance measuring machine, a high peak power laser, a PSbox and an electric control component, wherein the lens component is arranged on the front end of the lens component; the lens component comprises a main supporting part, a front light path part, a rear light path part and an outer cover part, the outer cover part is arranged above the main supporting part, the front light path part is positioned at the left end of the outer cover part, the front light path part comprises an outer frame, a secondary mirror, a correcting mirror, a lens barrel, a detector part and a front branch supporting part, the correcting mirror, the secondary mirror and the lens barrel are sequentially arranged in the outer frame from left to back, the detector part is arranged at the left end outside the outer frame, and the front branch supporting part is positioned at the right end of the outer frame; a main reflecting mirror is arranged at the right end of the outer cover part in the vertical direction, the rear light path part is positioned at the right end of the main reflecting mirror and comprises an infrared rear light path part, a prism part and a visible rear light path part, the prism part is arranged on the front side of the main reflecting mirror, a cubic prism is arranged in the prism part, the infrared rear light path part is positioned above the prism part, the visible rear light path part is positioned at the right end of the prism part, the short-distance high-precision distance measuring machine, the high peak power laser and the PSbox are arranged below the main supporting part, the electric control assembly is positioned at the bottom of the outer cover part, and the electric control assembly comprises a camera controller, a secondary power supply and an electric control;
the front light path component comprises a laser receiving light path correction system and a laser receiver, and a laser ranging receiving unit for realizing the whole lens, a correcting mirror, a secondary mirror and a lens barrel are sequentially arranged in the outer frame from left to back, the detector component is arranged at the left end outside the outer frame, the front light path support component is positioned at the right end of the outer frame, the front light path support rod mainly realizes fixed support for the front light path component, an adjusting pad is arranged at the joint of the outer frame and the lens barrel, and incident light rays are reflected to the secondary mirror through the main reflecting mirror to enable light waves in 1064nm spectrum band to transmit on the surface of the secondary mirror and penetrate through the secondary mirror;
the incident light is reflected by the main reflector, wherein the visible light and the long-wave infrared band light are reflected by the secondary reflector and then enter the cubic prism through the central hole of the main reflector, the cubic prism is formed by splicing two triangular prisms and is arranged on the inner side of the prism part, the incident light enters the cubic prism after being subjected to light splitting, the long-wave infrared light is reflected upwards and forms an image on the image surface of the long-wave infrared detector through the infrared lens part and the prism part which are connected with the prism part, and the other path of visible light passes through the cubic prism and then passes through the visible lens part to form an image on the image surface of the visible light detector.
Further, the front light path member, the main mirror, and the rear light path member are on the same horizontal line.
Furthermore, the dustcoat part includes preceding shading section of thick bamboo, back safety cover and lower safety cover, inside cavity and the lower cavity of being divided into of back safety cover, go up the cavity and keep apart through multilayer aluminum film and nylon wire in the middle of the lower cavity, the safety cover sets up in main tributary supporting part below down.
Furthermore, an adjusting pad is arranged at the joint of the outer frame and the lens cone.
Furthermore, the cubic prism is formed by splicing two triangular prisms, light of visible light and long-wave infrared band incident to the cubic prism is split, wherein the long-wave infrared light is reflected upwards, one path of the long-wave infrared light is reflected to the infrared rear light path component, and the other path of the visible light is directly irradiated to the visible rear light path component after passing through the cubic prism.
Furthermore, the infrared rear optical path component comprises an infrared lens component, an infrared detector support and a long-wave infrared detector, the infrared lens component is positioned above the prism component, the infrared detector support is sleeved outside the infrared lens component, and the long-wave infrared detector is arranged at the right end of the infrared detector support.
Furthermore, the visible light lens component is located at the right end of the prism component, the visible light detector is arranged at the right end of the visible light lens component, and an adjusting pad is arranged between the visible light detector and the visible light lens component.
The invention has the advantages that: according to the invention, the internal device is protected by the outer cover component, stray light is inhibited and eliminated, and the whole camera optical system is protected by inhibiting and eliminating stray light outside a visual field such as atmospheric scattered light and sunlight, so that primary and secondary stray light can be prevented from irradiating the detector, the signal-to-noise ratio of the detector is improved, the imaging quality of the camera is improved, the rear protective cover is divided into two chambers, and the temperature distribution of the two components is ensured to be independent and not interfered with each other; the front light path component realizes a laser ranging receiving unit of the whole lens, ensures the position degree of an image surface of a detection device and accurately controls the position of the image surface to be positioned in the center of a focal depth range; the front light path supporting rod mainly realizes the fixed support of the front light path component; the high peak power laser provides laser with a fixed spectrum; the short-distance laser range finder obtains the accurate distance through calculation; the infrared rear optical path component realizes infrared imaging; the visible light path component corrects a visible light path, realizes visible light imaging, is used for controlling the coplanarity precision and the position precision of the visible light detector, enables the image surface of the detector to be positioned in the middle position of the focal depth range, and is beneficial to improving the temperature adaptability of the lens; the prism component performs light splitting processing on visible light and infrared light to ensure that the visible light and the light of a long-wave infrared band are respectively reflected to the long-wave infrared detector and the visible light detector; the secondary power supply is a stable power supply of the whole system; the camera controller and the electric control thermal control component ensure the stability and the resonant frequency of the whole machine and reduce the difficulty of thermal control measures.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the overall construction of the rear optical path component of the present invention;
FIG. 3 is a schematic view of the overall structure of the front optical path member of the present invention;
FIG. 4 is a schematic structural view of a cover member of the present invention;
FIG. 5 is a side view of the present invention;
FIG. 6 is a cross-sectional view A-A of FIG. 5;
FIG. 7 is a cross-sectional view B-B of FIG. 5;
fig. 8 is a schematic of the optical ensemble design of the present invention.
Reference numerals:
the optical system comprises a lens assembly 1, a short-distance high-precision distance measuring machine 2, a high peak power laser 3, a PSbox4, a main reflector 5, a main supporting component 11, a front optical path component 12, an outer frame 121, a secondary mirror 122, a lens barrel 123, a detector component 124, a front optical path supporting component 125, a rear optical path component 13, an infrared rear optical path component 131, a prism component 132, a visible rear optical path component 133, a 134 cubic prism, an infrared lens component 135, an infrared detector bracket 136, a long-wave infrared detector 137, a visible lens component 138, a visible light detector 139, an outer cover component 14, a front light shielding barrel 141, a rear protective cover 142 and a lower protective cover 143.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
Referring to fig. 1, 3, 5, 6 and 7, as shown in fig. 1, 3, 5, 6 and 7, an integrated navigation sensor includes a lens assembly 1, a short-distance high-precision rangefinder 2, a high peak power laser 3, a PSbox4, and an electronic control assembly; the lens component 1 comprises a main supporting component 11, a front light path component 12, a rear light path component 13 and a housing component 14, the housing component 14 is arranged above the main supporting component 11, the front light path component 12 is arranged at the left end of the housing component 14, the front light path component 12 comprises an outer frame 121, a secondary mirror 122, a correcting mirror, a lens barrel 123, a detector component 124 and a front light path support piece 125, the front light path component 12 comprises a laser receiving light path correcting system and a laser receiver, a laser ranging receiving unit for realizing the whole lens is arranged in the outer frame 121, the correcting mirror, the secondary mirror 122 and the lens barrel 123 are sequentially arranged from left to back, the detector component 124 is arranged at the left end outside the outer frame 121, the front light path support piece 125 is arranged at the right end of the outer frame 121, the front light path support piece 125 mainly realizes the fixed support for the front light path component 12, an adjusting pad is arranged at the joint of the outer, light waves with a spectrum of 1064nm are transmitted on the surface of the secondary mirror 122 and pass through the secondary mirror 122 to form a front light path, the detector component 124 is fixed through the outer frame 121 and then connected with the lens barrel 123, and an adjusting pad is arranged at the joint of the outer frame 121 and the lens barrel 123 to ensure the position degree of the image surface of the detector component 124 and accurately control the position of the image surface to be positioned in the center of the focal depth range, so that the design of a laser radar receiving system is realized; a main reflector 5 is arranged at the right end of the outer cover part 14 in the vertical direction, a rear light path part 13 is arranged at the right end of the main reflector 5, the rear light path part 13 comprises an infrared rear light path part 131, a prism part 132 and a visible rear light path part 133, the infrared rear light path part 131 comprises an infrared light path correction group and an infrared receiver and corrects an infrared light path to realize infrared imaging, the prism part 132 is arranged at the front side of the main reflector 5, a cubic prism 134 is arranged in the prism part 132, the prism part 132 divides visible light and infrared light, the infrared rear light path part 131 is arranged above the prism part 132, the visible rear light path part 133 is arranged at the right end of the prism part 132, the visible rear light path part 133 comprises a visible light path correction group and a visible light receiver to correct a visible light path to realize visible light imaging, the front light path part 12, the main reflector 5 and the rear light path part 13 are on the same horizontal line, closely high accuracy range finder 2, high peak power laser instrument 3 and PSbox4 set up in main support component 11 below, closely laser range finder 12 obtains accurate distance through calculating, high peak power laser instrument 3 provides the laser of the spectral band of can deciding, PSbox4 provides the imaging quality, automatically controlled subassembly is located dustcoat part 14 bottom, automatically controlled subassembly includes camera controller, secondary power supply, automatically controlled hot accuse part, the convenient connecing of automatically controlled subassembly and each part is inserted and is walked the line, secondary power supply is entire system body system stabilized power supply.
Referring to fig. 2, as shown in fig. 2, the infrared rear optical path part 131 includes an infrared mirror part 135, an infrared detector bracket 136, and a long-wave infrared detector 137, the infrared mirror part 135 is located above the prism part 132, the infrared detector bracket 136 is sleeved outside the infrared mirror part 135, and the long-wave infrared detector 137 is located at the right end of the infrared detector bracket 136.
Referring to fig. 4, as shown in fig. 4, the housing part 14 includes a front light-shielding cylinder 141, a rear protecting cover 142 and a lower protecting cover 143, the housing part 14 achieves the suppression of stray light and the protection of the whole camera optical system, the front light-shielding cylinder 141 mainly plays a role of eliminating stray light, a light wave signal emitted by an observed target is captured by the optical system, and finally reaches the image surface position of the optical system through the processes of optical elements or reflection or refraction, and the imaging process is completed, the arrangement of the diaphragm plate in the housing part 14 is the most effective method for suppressing and eliminating stray light outside the field of view such as atmosphere scattered light, sunlight and the like, and can prevent the primary and secondary stray light from irradiating the detector, improve the signal-to-noise ratio of the detector, and improve the imaging quality of the camera, the rear protecting cover 142 is internally divided into an upper chamber and a lower chamber, and respectively provide protection for the infrared rear optical path part 131 and the visible light, the upper chamber and the lower chamber are separated by a plurality of layers of aluminum films and nylon nets, so that the temperature distribution of the two parts is independent and not interfered with each other, the lower protective cover 143 is arranged below the main supporting part 11, the lower protective cover 143 provides protection during the short-distance laser distance measuring machine 2, the high peak laser 3 and the PSbox4, and a mechanical interface and a thermal interface are provided for the bottom electronic part.
Referring to fig. 8, as shown in fig. 8, after the incident light is reflected by the primary mirror 5, wherein the light in the visible light and the long-wave infrared band is reflected by the secondary mirror 122, and then enters the cubic prism 134 through the central hole of the primary mirror 5, the cubic prism 134 is formed by splicing two triangular prisms, and is installed inside the prism part 132, after the light entering the cubic prism 134 is split, wherein the long-wave infrared light is reflected upward, and after passing through the infrared lens part 135 and the prism part 132 connected with the prism part 132, the image is formed at the image plane of the long-wave infrared detector 137, and after the other path of visible light passes through the cubic prism 134, the image is formed at the image plane of the visible light detector 139 through the visible light lens part 138, and an adjusting pad is arranged between the visible light detector 139 and the visible light lens part 138 for controlling the coplanarity precision and the position precision of the visible light detector 139, so that the, the temperature adaptability of the lens can be improved.
The main technical indexes of the invention are shown in table 1.
TABLE 1 Main technical index parameters
Indexes of the structural design of the multi-mode integrated navigation sensor are as follows:
a) the weight of the whole machine is as follows: less than or equal to 5 kg;
b) enveloping the shape: less than or equal to 350mm multiplied by 200mm multiplied by 250 mm;
c) resonance frequency: not less than 100 Hz;
d) the service life is as follows: the year is more than or equal to 3.
Example 2
Unlike embodiment 1, the spectral band of light transmitted at the surface of the secondary mirror 122 is 1550 nm.
The working principle of the invention is as follows: the target is compositely detected through visible light and infrared light in the daytime to obtain the posture and the position of the target, and the target is tracked; the target is detected and tracked through infrared imaging at night or under the condition of poor environmental conditions; when the target moves to a close distance, the distance is accurately measured through laser, and the multi-mode integrated camera with the functions of visible light high-resolution imaging, long-wave infrared refrigeration imaging and laser radar detection is realized.
The invention protects the internal device through the outer cover part 14, realizes the inhibition of stray light and the protection of the whole camera optical system, namely inhibits and eliminates stray light outside the visual field such as atmospheric scattered light, sunlight and the like, can prevent primary stray light and secondary stray light from irradiating the detector, improves the signal-to-noise ratio of the detector, improves the imaging quality of the camera, divides the rear protective cover 142 into two chambers, and ensures that the temperature distribution of the two parts are independent and do not interfere with each other; the front light path component 125 realizes a laser ranging receiving unit of the whole lens, ensures the position degree of an image surface of a detection device, and accurately controls the position of the image surface to be positioned in the center of a focal depth range; the front optical path support rod 125 mainly realizes fixed support for the front optical path component 12; the high peak power laser 3 provides laser light with a fixed spectrum section; the short-distance laser distance measuring machine 2 obtains the accurate distance through calculation; the infrared rear optical path part 131 realizes infrared imaging; the visible light path component 133 corrects a visible light path, realizes visible light imaging, is used for controlling the coplanarity precision and the position precision of the visible light detector 139, enables the detector image surface to be positioned in the middle position of the focal depth range, and is beneficial to improving the temperature adaptability of the lens; the prism component 132 performs light splitting processing on the visible light and the infrared light to ensure that the visible light and the long-wave infrared band light are respectively reflected to the long-wave infrared detector 137 and the visible light detector 139; the secondary power supply is a stable power supply of the whole system; the camera controller and the electric control thermal control component ensure the stability and the resonant frequency of the whole machine and reduce the difficulty of thermal control measures.
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, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. An integrated navigation sensor is characterized by comprising a lens component (1), a short-distance high-precision distance measuring machine (2), a high peak power laser (3), a PSbox (4) and an electric control component; the lens assembly (1) comprises a main supporting component (11), a front light path component (12), a rear light path component (13) and an outer cover component (14), the outer cover component (14) is arranged above the main supporting component (11), the front light path component (12) is located at the left end of the outer cover component (14), the front light path component (12) comprises an outer frame (121), a secondary mirror (122), a correcting mirror, a lens barrel (123), a detector component (124) and a front branch supporting piece (125), the outer frame (121) is internally provided with the correcting mirror, the secondary mirror (122) and the lens barrel (123) in sequence from left to back, the detector component (124) is arranged at the left end outside the outer frame (121), and the front branch supporting piece (125) is located at the right end of the outer frame (121); a main reflecting mirror (5) is arranged at the right end of the outer cover component (14) in the vertical direction, the rear light path component (13) is positioned at the right end of the main reflecting mirror (5), the rear light path component (13) comprises an infrared rear light path component (131), a prism component (132) and a visible rear light path component (133), the prism component (132) is arranged on the front side of the main reflector (5), a cubic prism (134) is arranged in the prism component (132), the infrared rear optical path component (131) is positioned above the prism component (132), the visible rear optical path component (133) is positioned at the right end of the prism component (132), the short-distance high-precision distance measuring machine (2), the high peak power laser (3) and the PSbox (4) are arranged below the main supporting component (11), the electric control assembly is positioned at the bottom of the outer cover component (14), and comprises a camera controller, a secondary power supply and an electric control thermal control component;
the front light path component (12) comprises a laser receiving light path correcting system and a laser receiver and a laser ranging receiving unit for realizing the whole lens, the front light path supporting rod (125) mainly realizes the fixed support of the front light path component (12), and after incident light is reflected to the secondary mirror (122) through the main reflecting mirror (5), light waves with a spectrum band of 1064nm are transmitted on the surface of the secondary mirror (122) and pass through the secondary mirror (122) to form a front light path;
incident light is reflected by the main reflector (5), wherein light in visible light and long-wave infrared bands is reflected by the secondary mirror (122) and then enters the cubic prism (134) through a central hole of the main reflector (5), the cubic prism (134) is formed by splicing two triangular prisms and is arranged on the inner side of the prism part (132), the light entering the cubic prism (134) is subjected to light splitting, wherein long-wave infrared light is reflected upwards, and is imaged on an image plane of the long-wave infrared detector (137) after passing through an infrared lens part (135) and the prism part (132) which are connected with the prism part (132), and the other path of visible light is imaged on the image plane of the visible light detector (139) after passing through the cubic prism (134) and passing through a visible lens part (138).
2. The integrated navigation sensor according to claim 1, wherein the front light path member (12), the main mirror (5) and the rear light path member (13) are on the same horizontal line.
3. The integrated navigation sensor according to claim 1, wherein the cover member (14) includes a front light shielding cylinder (141), a rear protective cover (142) and a lower protective cover (143), an inner portion of the rear protective cover (142) is divided into an upper chamber and a lower chamber, the upper chamber and the lower chamber are separated by a plurality of layers of aluminum films and nylon nets, and the lower protective cover (143) is disposed below the main support member (11).
4. The integrated navigation sensor according to claim 1, wherein an adjusting pad is arranged at the joint of the outer frame (121) and the lens barrel (123).
5. The integrated navigation sensor according to claim 1, wherein the cube prism (134) is formed by splicing two triangular prisms, light of visible light and long-wave infrared band incident to the cube prism (134) is split, wherein the long-wave infrared light is reflected upwards, one path of the long-wave infrared light is reflected to the infrared rear light path component (131), and the other path of the visible light is transmitted through the cube prism (134) and then is directly projected to the visible rear light path component (133).
6. The integrated navigation sensor according to claim 1, wherein the infrared rear light path component (131) comprises an infrared lens component (135), an infrared detector support (136) and a long-wave infrared detector (137), the infrared lens component (135) is positioned above the prism component (132), the infrared detector support (136) is sleeved outside the infrared lens component (135), and the long-wave infrared detector (137) is positioned at the right end of the infrared detector support (136).
7. The integrated navigation sensor according to claim 1, wherein the visible back light path component (133) comprises a visible mirror component (138) and a visible light detector (139), the visible mirror component (138) is located at the right end of the prism component (132), the visible light detector (139) is arranged at the right end of the visible mirror component (138), and an adjusting pad is arranged between the visible light detector (139) and the visible mirror component (138).
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| CN116929374B (en) * | 2023-05-26 | 2024-01-19 | 北京控制工程研究所 | Earth sensor |
| CN116781168A (en) * | 2023-06-14 | 2023-09-19 | 蓝星光域(上海)航天科技有限公司 | Integrated laser communication terminal |
| CN117724218B (en) * | 2024-02-18 | 2024-04-26 | 中国科学院长春光学精密机械与物理研究所 | Thermally stable camera structure |
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