CN113422881B - Sweep and swing combined low-overlap laser communication scanning and capturing device and method - Google Patents

Sweep and swing combined low-overlap laser communication scanning and capturing device and method Download PDF

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CN113422881B
CN113422881B CN202110975265.3A CN202110975265A CN113422881B CN 113422881 B CN113422881 B CN 113422881B CN 202110975265 A CN202110975265 A CN 202110975265A CN 113422881 B CN113422881 B CN 113422881B
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aiming mechanism
fine
coarse
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fine aiming
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CN113422881A (en
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吴世臣
黎发志
权振
王安
解学彬
周子元
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NANJING INTANE OPTICS ENGINEERING CO LTD
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
    • H04N1/04—Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G02B26/101—Scanning systems with both horizontal and vertical deflecting means, e.g. raster or XY scanners
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/09—Beam shaping, e.g. changing the cross-sectional area, not otherwise provided for
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/10—Beam splitting or combining systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
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Abstract

The invention provides a sweep and swing combined low-overlap laser communication scanning and capturing device and method. The device comprises a main optical antenna, a signal laser, a shaping mirror group, a reflecting mirror, a spectroscope, a focusing mirror group, an image detector, a main controller, a coarse aiming mechanism for realizing azimuth steering and pitching steering, a fine aiming mechanism for performing triangular wave reciprocating swing in the direction perpendicular to the rotation direction of the coarse aiming mechanism and a reflecting surface arranged on the fine aiming mechanism, wherein the main optical antenna, the signal laser, the shaping mirror group, the reflecting mirror, the spectroscope, the focusing mirror group and the fine aiming mechanism are all arranged on the coarse aiming mechanism. Compared with the traditional coarse and fine non-beacon scanning and capturing mode, the method has the advantages of lower scanning overlapping range, simpler software/hardware drive and less time consumption for capturing.

Description

Sweep and swing combined low-overlap laser communication scanning and capturing device and method
Technical Field
The invention relates to a sweep and swing combined low-overlap laser communication scanning and capturing device and method, and belongs to the technical field of optical equipment.
Background
Compared with the existing microwave communication technology, the satellite laser communication technology has the remarkable advantages of high data rate, good interference resistance and confidentiality and the like, and is an effective supplementary technical means for satellite communication in the future. At present, a plurality of satellite optical communication on-orbit tests are developed at home and abroad, and military and commercial aerospace applications are gradually developed.
With the development of the technology, the current space laser communication terminal begins to adopt a design without an independent beacon light emitting/receiving optical antenna, and only signal light emission is carried out at a transmitting end without an independent beacon light emitting optical path; and splitting the signal light at the receiving end, and sending the split signal light to the signal light detector for communication signal demodulation and the beacon light detector for beacon light position demodulation. Compared with a beacon laser communication terminal, the beacon-free laser terminal has the characteristics of smaller volume and weight, simpler structure and lower power consumption.
The signal light emission beam divergence angle of the beacon-free laser communication terminal is generally 20-50 urad, and the angle is smaller than the pointing control error of the coarse aiming mechanism, so that the scanning capture mode of the single coarse aiming mechanism of the beacon-free laser communication terminal cannot be used. Therefore, in order to realize rapid capture under a rapid small beam divergence angle condition, as shown in fig. 1, a coarse aiming mechanism is generally adopted to perform spiral involute scanning or rectangular involute scanning at present, and a synchronous fine aiming mechanism performs spiral involute scanning or rectangular involute scanning, so as to cooperatively complete coverage of an uncertain area. The method can effectively solve the problem that the divergence angle of the signal beam is smaller than the pointing error of the coarse aiming mechanism, and the problem that the leakage scanning area is uncontrollable when the involute scanning of the coarse aiming mechanism is independently carried out.
However, the current beacon-free scanning acquisition mode has the following problems: 1) the scanning overlapping area of the invalid coverage is large, the efficiency is low, and the time consumption is longer; 2) the control time sequence is complex, the coarse aiming mechanism needs to move at intervals according to a certain position and reach the position, and the fine aiming mechanism carries out circular spiral involute after the coarse aiming terminal stops.
Disclosure of Invention
Aiming at the problems of the scanning and capturing mode of the traditional beacon-free laser communication terminal, the scanning and swinging combined low-overlap laser communication scanning and capturing device and method are provided, the rectangular involute rotation is carried out by utilizing the characteristic of good speed stability of a torque rotary table, and the synchronous fine aiming mirror carries out one-dimensional rapid reciprocating swinging, so that the overlapping coverage area can be effectively reduced, and the scanning efficiency is improved; the coarse aiming structure/the fine aiming mechanism work simultaneously, so that the capturing time is shortened; the control complexity is reduced, and the problem of frequent control switching of a coarse aiming mechanism and a fine aiming mechanism is solved.
The above purpose is realized by the following technical scheme:
a sweep-pendulum combined low-overlap laser communication scanning capture device comprises a main optical antenna, a signal laser, a shaping mirror group, a reflector, a spectroscope, a focusing mirror group, an image detector, a main controller, a coarse aiming mechanism for realizing azimuth steering and pitching steering, a fine aiming mechanism for performing triangular wave reciprocating swing in the direction perpendicular to the rotation direction of the coarse aiming mechanism, and a reflecting surface arranged on the fine aiming mechanism, wherein the main optical antenna, the signal laser, the shaping mirror group, the reflector, the spectroscope, the focusing mirror group and the fine aiming mechanism are all arranged on the coarse aiming mechanism;
the signal light emitted by the signal laser is subjected to angle compression through the shaping lens group, then enters the reflecting surface of the fine aiming mechanism through the reflecting mirror and the spectroscope, enters the main optical antenna after passing through the reflecting surface of the fine aiming mechanism, and is finally emitted and output to form a signal emission light path;
the beacon light is collected and converged by the main optical antenna, then enters the reflecting surface of the fine aiming mechanism, is reflected by the reflecting surface of the fine aiming mechanism, then enters the focusing mirror group after being reflected by the beam splitter, and finally is focused on the image detector to form a beacon light receiving light path.
The sweep-combined low-overlap laser communication scanning capturing method is implemented by using the sweep-combined low-overlap laser communication scanning capturing device, and comprises the following steps:
(1) the main controller sends a scanning instruction to the coarse aiming mechanism and the fine aiming mechanism;
(2) the coarse aiming mechanism receives the command of starting scanning from the main controller and immediately uses the angular speed
Figure 201811DEST_PATH_IMAGE001
A rectangular or circular spiral involute rotation with a thread pitch; meanwhile, the fine aiming mechanism receives a command of starting scanning of the main controller, and immediately controls the fine aiming mechanism to drive a reflecting surface on the fine aiming mechanism to perform triangular wave reciprocating swing in the rotating direction of the coarse aiming mechanism, namely in the vertical direction of the speed direction of the coarse aiming mechanism;
Figure 771333DEST_PATH_IMAGE002
wherein
Figure 141397DEST_PATH_IMAGE003
Or
Figure 175080DEST_PATH_IMAGE004
In the sweep pendulum process, the deflection angle change angular speed of the fine aiming mechanism in the X direction or the Y direction, and t is the single-step scanning time of the fine aiming mechanism;
Figure 572564DEST_PATH_IMAGE005
and
Figure 599688DEST_PATH_IMAGE006
the angle deviation value in the X direction or the Y direction in the sweeping process of the fine aiming mechanism is obtained;
meanwhile, the following relationship needs to be satisfied between the coarse aiming mechanism and the fine aiming mechanism:
Figure 740819DEST_PATH_IMAGE007
wherein the content of the first and second substances,
Figure 363430DEST_PATH_IMAGE001
is the rotational angular velocity of the coarse aiming mechanism;
Figure 557914DEST_PATH_IMAGE008
is the beam spread angle of the emitted beam;
Figure 305290DEST_PATH_IMAGE009
the time period required by swinging in the scanning of the precise sighting telescope is appointed;
Figure 282735DEST_PATH_IMAGE010
for coarse/fine aiming mechanism speed proportionality coefficient
Figure 697536DEST_PATH_IMAGE010
When the number is 1, the fine aiming mechanism is fixed relative to the coarse aiming mechanism;
Figure DEST_PATH_IMAGE011
is the image detector exposure time;
Figure 594079DEST_PATH_IMAGE012
scanning the thread pitch for the coarse aiming mechanism;
Figure DEST_PATH_IMAGE013
is the overlap factor;
Figure 687806DEST_PATH_IMAGE014
the movement interval of the fine aiming mechanism is set;
Figure DEST_PATH_IMAGE015
is the rotation angular velocity of the fine aiming mechanism;
(3) and when the image detector of the local terminal receives the beacon light emitted by the other laser communication terminal, the scanning is finished.
Further, the speed proportionality coefficient of the coarse/fine aiming mechanism
Figure 796839DEST_PATH_IMAGE010
The value is greater than 7.
Has the advantages that:
the invention utilizes the characteristic of good speed stability of the torque rotary table to rotate the rectangular involute, and the synchronous fine sighting telescope swings in a one-dimensional rapid reciprocating way, thereby effectively reducing the overlapping coverage area and improving the scanning efficiency; the coarse aiming structure/the fine aiming mechanism work simultaneously, so that the capturing time is shortened; the control complexity is reduced, and the problem of frequent control switching of a coarse aiming mechanism and a fine aiming mechanism is solved.
Drawings
Fig. 1 is a schematic diagram of a conventional beacon-free capture scanning spot, in which (a) is a schematic diagram of a spiral involute type beacon-free capture scanning spot, and (b) is a schematic diagram of a rectangular involute type beacon-free capture scanning spot;
FIG. 2 is a schematic diagram of the apparatus of the present invention, FIG. 2, 1-the primary optical antenna; 2-a signal laser; 3-a shaping lens group; 4-a mirror; 5-a spectroscope; 6-a focusing lens group; 7-an image detector; 8-a main controller; 9-coarse aiming mechanism; 10-a fine aiming mechanism;
FIG. 3 is a flow chart of a method of the present invention;
fig. 4 is a motion trajectory of the coarse aiming mechanism of the present invention, in fig. 4, (a) is a rectangular involute trajectory, and (b) is a spiral involute trajectory;
FIG. 5 is a movement trace of a fine aiming mechanism with a coarse aiming mechanism as a reference in the method of the present invention;
FIG. 6 is a schematic view of the scanning coverage of the apparatus in the actual measurement case of the present invention;
fig. 7 is a schematic view of the scanning spot in the actual measurement case of the present invention.
Detailed Description
As shown in fig. 2, the sweep-pendulum combined low overlap laser communication scanning capture device of this embodiment includes a main optical antenna 1, a signal laser 2, a shaping mirror group 3, a reflecting mirror 4, a beam splitter 5, a focusing mirror group 6, an image detector 7, a main controller 8, a coarse aiming mechanism 9 for implementing azimuth steering and pitch steering, a fine aiming mechanism 10 for performing triangular wave reciprocating swing in a direction perpendicular to a rotation direction of the coarse aiming mechanism, and a reflecting surface disposed on the fine aiming mechanism, where the main optical antenna, the signal laser, the shaping mirror group, the reflecting mirror, the beam splitter, the focusing mirror group, and the fine aiming mechanism are all disposed on the coarse aiming mechanism;
the signal light emitted by the signal laser is subjected to angle compression through the shaping lens group, then enters the reflecting surface of the fine aiming mechanism through the reflecting mirror and the spectroscope, enters the main optical antenna after passing through the reflecting surface of the fine aiming mechanism, and is finally emitted and output to form a signal emission light path;
the beacon light is collected and converged by the main optical antenna, then enters the reflecting surface of the fine aiming mechanism, is reflected by the reflecting surface of the fine aiming mechanism, then enters the focusing mirror group after being reflected by the beam splitter, and finally is focused on the image detector to form a beacon light receiving light path;
as shown in fig. 3, the sweep-combined low overlap laser communication scanning capturing method using the sweep-combined low overlap laser communication scanning capturing apparatus includes the following steps:
(1) the main controller sends a scanning instruction to the coarse aiming mechanism and the fine aiming mechanism;
(2) as shown in FIG. 4, the coarse aiming mechanism receives the command from the main controller to start scanning, and immediately uses the angular velocity
Figure 597304DEST_PATH_IMAGE001
A rectangular or circular spiral involute rotation with a thread pitch; meanwhile, as shown in fig. 5, the fine aiming mechanism receives a command for starting scanning from the main controller, and immediately controls the fine aiming mechanism to drive the reflecting surface on the fine aiming mechanism to perform triangular wave reciprocating swing in a direction perpendicular to the rotation direction of the coarse aiming mechanism, i.e. the speed direction of the coarse aiming mechanism;
Figure 262817DEST_PATH_IMAGE002
wherein
Figure 781523DEST_PATH_IMAGE003
Or
Figure 864885DEST_PATH_IMAGE004
In the sweep pendulum process, the deflection angle change angular speed of the fine aiming mechanism in the X direction or the Y direction, and t is the single-step scanning time of the fine aiming mechanism;
Figure 191961DEST_PATH_IMAGE005
and
Figure 571252DEST_PATH_IMAGE006
the angle deviation value in the X direction or the Y direction in the sweeping process of the fine aiming mechanism is obtained;
meanwhile, the following relationship needs to be satisfied between the coarse aiming mechanism and the fine aiming mechanism:
Figure 311675DEST_PATH_IMAGE007
wherein the content of the first and second substances,
Figure 136412DEST_PATH_IMAGE001
is the rotational angular velocity of the coarse aiming mechanism;
Figure 678514DEST_PATH_IMAGE008
is the beam spread angle of the emitted beam;
Figure 664925DEST_PATH_IMAGE009
the time period required by swinging in the scanning of the precise sighting telescope is appointed;
Figure 627064DEST_PATH_IMAGE010
for coarse/fine aiming mechanism speed proportionality coefficient
Figure 553694DEST_PATH_IMAGE010
When the number is 1, the fine aiming mechanism is fixed relative to the coarse aiming mechanism;
Figure 917679DEST_PATH_IMAGE011
is the image detector exposure time;
Figure 74991DEST_PATH_IMAGE012
scanning the thread pitch for the coarse aiming mechanism;
Figure 524427DEST_PATH_IMAGE013
is the overlap factor;
Figure 254748DEST_PATH_IMAGE014
the movement interval of the fine aiming mechanism is set;
Figure 942081DEST_PATH_IMAGE015
is the rotation angular velocity of the fine aiming mechanism. The scanning schematic diagram of fig. 6 is completed, and finally the scanning range of fig. 7 is formed.
(3) And when the image detector of the local terminal receives the beacon light emitted by the other laser communication terminal, the scanning is finished.
Further, the speed proportionality coefficient of the coarse/fine aiming mechanism
Figure 801453DEST_PATH_IMAGE010
The value is greater than 7.
The actual measurement cases are as follows:
the rotational angular velocity of the coarse aiming mechanism in this embodiment
Figure 505229DEST_PATH_IMAGE016
Is 17.85 mrad/s; angle of beam spread of emission
Figure 272197DEST_PATH_IMAGE008
Is 50 urad; time period required by swing in scanning of fine sighting telescope
Figure 876353DEST_PATH_IMAGE009
Is 22 ms; coefficient of overlap
Figure 939250DEST_PATH_IMAGE013
Is 0.1; coarse/fine aiming mechanism speed proportionality coefficient
Figure 363278DEST_PATH_IMAGE010
Is 11; exposure time of image detector
Figure 137199DEST_PATH_IMAGE011
Is 2 ms; coarse aiming mechanism scanning pitch
Figure 267966DEST_PATH_IMAGE012
Is 346 urad; interval of motion of fine aiming mechanism
Figure 767342DEST_PATH_IMAGE014
Is 35 urad; angular velocity of rotation of fine aiming mechanism
Figure 616350DEST_PATH_IMAGE015
Is 15.75 mrad/s;
the main controller sends a scanning starting command to the coarse aiming mechanism and the fine aiming mechanism, and simultaneously monitors the feedback of the image detector;
the coarse aiming mechanism and the fine aiming mechanism together complete the coverage of the 3mrad uncertain region scanning light panel as shown in fig. 7.
By adopting the traditional mode, the primary overlapping coefficient of the fine aiming mechanism is reduced, so that the coverage efficiency is higher.
Figure DEST_PATH_IMAGE017
In the above formula, ToldIs time-consuming in the conventional process, TnewFor the time-consuming method, S is the area of the uncertain region,
Figure 990699DEST_PATH_IMAGE018
area of area covered by light-emitting panel, N1Scanning overlay, N, for fine aiming mechanism2For scanning overlap of the coarse aiming device, the scanning strip-shaped stripe formed by swinging the fine aiming mechanism is not subjected to overlap coefficient setting in the scanning process of the coarse aiming mechanism, so that the scanning time difference between the coarse aiming device and the fine aiming mechanism is 1/(1-N)2) Taking 3mrad uncertainty as an example, the calculation can be carried out, the conventional method is 35.5s, and the method of the present invention is 32 s.
Compared with the traditional beacon-free scanning acquisition mode, the method has the advantages that the scanning overlapping area is lower, and the scanning acquisition speed is faster.
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical solution according to the technical idea of the present invention falls within the protection scope of the present invention. The technology not related to the invention can be realized by the prior art.

Claims (3)

1. The utility model provides a sweep low overlapping laser communication scanning capture device that pendulum combines which characterized in that: the device comprises a main optical antenna, a signal laser, a shaping mirror group, a reflecting mirror, a spectroscope, a focusing mirror group, an image detector, a main controller, a coarse aiming mechanism for realizing azimuth steering and pitching steering, a fine aiming mechanism for performing triangular wave reciprocating swing in the direction perpendicular to the rotation direction of the coarse aiming mechanism, and a reflecting surface arranged on the fine aiming mechanism, wherein the main optical antenna, the signal laser, the shaping mirror group, the reflecting mirror, the spectroscope, the focusing mirror group and the fine aiming mechanism are all arranged on the coarse aiming mechanism;
the coarse aiming mechanism is used for receiving an instruction of starting scanning by the main controller and immediately carrying out angular speedV CAnd pitch of thread
Figure DEST_PATH_IMAGE002
Performing rectangular or circular spiral involute rotation; meanwhile, the fine aiming mechanism receives a command of starting scanning of the main controller, and immediately controls the fine aiming mechanism to drive a reflecting surface on the fine aiming mechanism to perform triangular wave reciprocating swing in the rotating direction of the coarse aiming mechanism, namely in the vertical direction of the speed direction of the coarse aiming mechanism;
Figure DEST_PATH_IMAGE004
wherein
Figure DEST_PATH_IMAGE006
Or
Figure DEST_PATH_IMAGE008
In the sweep pendulum process, the deflection angle change angular speed of the fine aiming mechanism in the X direction or the Y direction, and t is the single-step scanning time of the fine aiming mechanism;
Figure DEST_PATH_IMAGE010
and
Figure DEST_PATH_IMAGE012
the angle deviation value in the X direction or the Y direction in the sweeping process of the fine aiming mechanism is obtained;
meanwhile, the following relationship needs to be satisfied between the coarse aiming mechanism and the fine aiming mechanism:
Figure DEST_PATH_IMAGE014
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE016
is the rotational angular velocity of the coarse aiming mechanism;
Figure DEST_PATH_IMAGE018
is the beam spread angle of the emitted beam;
Figure DEST_PATH_IMAGE020
the time period required by swinging in the scanning of the precise sighting telescope is appointed;
Figure DEST_PATH_IMAGE022
for coarse/fine aiming mechanism speed proportionality coefficient
Figure 975186DEST_PATH_IMAGE022
When the number is 1, the fine aiming mechanism is fixed relative to the coarse aiming mechanism;
Figure DEST_PATH_IMAGE024
is the image detector exposure time;
Figure 908638DEST_PATH_IMAGE002
scanning the thread pitch for the coarse aiming mechanism;
Figure DEST_PATH_IMAGE026
is the overlap factor;
Figure DEST_PATH_IMAGE028
the movement interval of the fine aiming mechanism is set;
Figure DEST_PATH_IMAGE030
is the rotation angular velocity of the fine aiming mechanism;
the signal light emitted by the signal laser is subjected to angle compression through the shaping lens group, then enters the reflecting surface of the fine aiming mechanism through the reflecting mirror and the spectroscope, enters the main optical antenna after passing through the reflecting surface of the fine aiming mechanism, and is finally emitted and output to form a signal emission light path;
the beacon light is collected and converged by the main optical antenna, then enters the reflecting surface of the fine aiming mechanism, is reflected by the reflecting surface of the fine aiming mechanism, then enters the focusing mirror group after being reflected by the beam splitter, and finally is focused on the image detector to form a beacon light receiving light path.
2. A sweep-combined low overlap laser communication scan capture method using the sweep-combined low overlap laser communication scan capture apparatus of claim 1, characterized in that: the method comprises the following steps:
(1) the main controller sends a scanning instruction to the coarse aiming mechanism and the fine aiming mechanism;
(2) the coarse aiming mechanism receives the command of starting scanning from the main controller and immediately uses the angular speedV CAnd pitch of thread
Figure 970266DEST_PATH_IMAGE002
Performing rectangular or circular spiral involute rotation; meanwhile, the fine aiming mechanism receives a command of starting scanning of the main controller, and immediately controls the fine aiming mechanism to drive a reflecting surface on the fine aiming mechanism to perform triangular wave reciprocating swing in the rotating direction of the coarse aiming mechanism, namely in the vertical direction of the speed direction of the coarse aiming mechanism;
Figure 303158DEST_PATH_IMAGE004
wherein
Figure 976585DEST_PATH_IMAGE006
Or
Figure 159567DEST_PATH_IMAGE008
In the process of sweeping and swinging, essenceThe deflection angle change angular speed of the aiming mechanism in the X direction or the Y direction is t, and the t is the single-step scanning time of the fine aiming mechanism;
Figure 144709DEST_PATH_IMAGE010
and
Figure 969708DEST_PATH_IMAGE012
the angle deviation value in the X direction or the Y direction in the sweeping process of the fine aiming mechanism is obtained;
meanwhile, the following relationship needs to be satisfied between the coarse aiming mechanism and the fine aiming mechanism:
Figure 576270DEST_PATH_IMAGE014
wherein the content of the first and second substances,
Figure 163109DEST_PATH_IMAGE016
is the rotational angular velocity of the coarse aiming mechanism;
Figure 714176DEST_PATH_IMAGE018
is the beam spread angle of the emitted beam;
Figure 546128DEST_PATH_IMAGE020
the time period required by swinging in the scanning of the precise sighting telescope is appointed;
Figure 990885DEST_PATH_IMAGE022
for coarse/fine aiming mechanism speed proportionality coefficient
Figure 889571DEST_PATH_IMAGE022
When the number is 1, the fine aiming mechanism is fixed relative to the coarse aiming mechanism;
Figure 479997DEST_PATH_IMAGE024
is the image detector exposure time;
Figure 879754DEST_PATH_IMAGE002
scanning the thread pitch for the coarse aiming mechanism;
Figure 477220DEST_PATH_IMAGE026
is the overlap factor;
Figure 405861DEST_PATH_IMAGE028
the movement interval of the fine aiming mechanism is set;
Figure 338045DEST_PATH_IMAGE030
is the rotation angular velocity of the fine aiming mechanism;
(3) and when the image detector of the local terminal receives the beacon light emitted by the other laser communication terminal, the scanning is finished.
3. The sweep combined low overlap laser communication scan capture method of claim 2, wherein: coarse/fine aiming mechanism speed proportionality coefficient
Figure 105275DEST_PATH_IMAGE022
The value is greater than 7.
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