CN113507579B - Inter-satellite laser link capturing method and system for space gravitational wave detection - Google Patents
Inter-satellite laser link capturing method and system for space gravitational wave detection Download PDFInfo
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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
- H04N25/71—Charge-coupled device [CCD] sensors; Charge-transfer registers specially adapted for CCD sensors
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- 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
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- H04B10/118—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum specially adapted for satellite communication
Abstract
The invention provides an inter-satellite laser link capturing method and system for space gravitational wave detection, comprising the following steps: step 1: scanning a target terminal area through laser, adjusting the visual axes of a transmitting end and a detecting end according to response signals of a detection target, and establishing a communication link after the visual axes are aligned; step 2: setting laser capturing parameters including a capturing area, a laser beam divergence angle and a scanning mode; step 3: constructing a Simulink model to capture laser, wherein the Simulink model comprises CCD output simulation and CCD angle calculation; step 4: setting an initial alignment error, calculating a CCD capturing error, and adjusting capturing precision. According to the invention, through analyzing the working principle of laser capturing of space gravitational wave detection, a laser capturing mode and corresponding capturing parameters are designed, and a Simulink simulation model of laser capturing is built on the basis, so that the simulation model is packaged, and the application of practical engineering is facilitated.
Description
Technical Field
The invention relates to the technical field of laser communication, in particular to an inter-satellite laser link capturing method and system for space gravitational wave detection.
Background
In the space gravitational wave detection, in order to realize scientific measurement of gravitational wave signals, a million kilometer laser link between satellites is required to be constructed, laser capturing is the first stage of the link establishment process, the capturing process is to continuously adjust the visual axis directions of two laser communication terminals, realize mutual alignment, and finally realize closed loop of an optical path between the two terminals.
In the laser capturing process, a Charge Coupled Device (CCD) is used as a capturing detector, and because the CCD field of view is smaller, a star Sensor (STR) is adopted to perform initial alignment, and CCD laser capturing is performed after the initial alignment. Because of errors of the sensor and the actuating mechanism, an initial aiming error exists between the two satellites after initial alignment, in space gravitational wave detection, the distance between the two satellites is in the order of million kilometers, the actual position of the satellite is greatly deviated from the reference position due to the initial aiming error, and energy is lost in the transmission process of laser, so that a proper capturing scheme and capturing parameters are required to be determined for realizing rapid and accurate laser capturing, and the capturing uncertainty area, the scanning step length, the scanning mode and the selection of laser beam divergence angle are included. The invention designs a space gravitational wave detection inter-satellite laser link capturing method based on a Matlab/Simulink platform, and establishes a Simulink model through analysis of a capturing principle to simulate an inter-satellite link capturing process in space gravitational wave detection.
Patent document CN101567721a (application number: CN 200910071922.0) discloses a beam capturing scanning method for quickly establishing a laser link between a relay star and a user star, which comprises the following steps: step one: the relay star terminal sends out a beacon beam to a scanning point of the area to be scanned; step two: the relay star terminal sends out a beacon beam to the next scanning point in the area to be scanned at time intervals; step three: when the beacon light beam in the first step or the second step reaches the area to be scanned, the satellite terminal of the user sends out a return light beam; step four: the relay star terminal judges whether the return light beam in the step three is received or not, if the judgment result is negative, the step two is executed; if the result is yes, the relay star terminal stops sending out the beacon beam, and at the moment, the user star is positioned at the previous scanning point, and the relay star captures the user star successfully. However, this patent suffers from energy loss during laser transmission during scanning, thus causing positional deviation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an inter-satellite laser link capturing method and system for space gravitational wave detection.
The inter-satellite laser link capturing method for space gravitational wave detection provided by the invention comprises the following steps:
step 1: scanning a target terminal area through laser, adjusting the visual axes of a transmitting end and a detecting end according to response signals of a detection target, and establishing a communication link after the visual axes are aligned;
step 2: setting laser capturing parameters including a capturing area, a laser beam divergence angle and a scanning mode;
step 3: constructing a Simulink model to capture laser, wherein the Simulink model comprises CCD output simulation and CCD angle calculation;
step 4: setting an initial alignment error, calculating a CCD capturing error, and adjusting capturing precision.
Preferably, after the initial alignment of the execution mechanisms of the transmitting end and the detecting end, the receiving view field of the detecting end is larger than the capturing area, and the beam divergence angle of the laser beam of the transmitting end is smaller than the capturing area.
Preferably, the scanning mode is a spiral scanning mode, the equal-pitch equal-linear speed spiral scanning is adopted according to the probability distribution and the shape characteristics of the capturing area, and the area where the target terminal exists is scanned from the center position with the highest probability of occurrence of the target;
the polar equation for helical scanning is:
wherein θ is the polar angle, ρ is the polar diameter, I θ For scanning step length, θ b Is the beam divergence angle of the light beam;
the scan trajectory curves for azimuth and elevation directions are:
wherein x is the azimuth direction and y is the pitch direction;
in the polar coordinate system, scanning is started from a central point, and the polar angle θ (i) and the polar diameter ρ (i) of each corresponding scanning point are expressed as:
when the scanning stay points are converted into a rectangular coordinate system, the coordinates of each scanning stay point are as follows:
where i denotes the ith scan point in the scan path, i is 1,2,3, …, N scan ；
Wherein N is scan For maximum number of scanning positions, θ FOU Representing the half-angle size of the capture area.
Preferably, the CCD output simulation includes:
calculating the offset on the CCD according to the incidence angle of the laser, and simulating the position of the light spot on the CCD according to the offset;
simulating the light spot intensity of each pixel on the image by adopting Gaussian distribution, and outputting the light spot intensity as a simulated light spot image;
the components of the incident laser light in azimuth and pitch directions are radians of each pixel in x, y directions.
Preferably, the CCD angle calculation includes:
the light spot centroid is calculated according to the light intensity of each pixel collected on the photosensitive surface of the CCD camera, the beacon light spot image on the detector consists of m multiplied by n pixels, and the position coordinate of each pixel is (x i ,y j ) The corresponding gray value is p ij (x, y), m and n are the number of transverse and longitudinal pixels of the beacon spot image, and i and j are serial numbers in the x and y directions respectively;
the calculation formula of the centroid (X, Y) of the light spot is as follows:
the invention provides an inter-satellite laser link capturing system for space gravitational wave detection, which comprises the following components:
module M1: scanning a target terminal area through laser, adjusting the visual axes of a transmitting end and a detecting end according to response signals of a detection target, and establishing a communication link after the visual axes are aligned;
module M2: setting laser capturing parameters including a capturing area, a laser beam divergence angle and a scanning mode;
module M3: constructing a Simulink model to capture laser, wherein the Simulink model comprises CCD output simulation and CCD angle calculation;
module M4: setting an initial alignment error, calculating a CCD capturing error, and adjusting capturing precision.
Preferably, after the initial alignment of the execution mechanisms of the transmitting end and the detecting end, the receiving view field of the detecting end is larger than the capturing area, and the beam divergence angle of the laser beam of the transmitting end is smaller than the capturing area.
Preferably, the scanning mode is a spiral scanning mode, the equal-pitch equal-linear speed spiral scanning is adopted according to the probability distribution and the shape characteristics of the capturing area, and the area where the target terminal exists is scanned from the center position with the highest probability of occurrence of the target;
the polar equation for helical scanning is:
wherein θ is the polar angle, ρ is the polar diameter, I θ For scanning step length, θ b Is a light beamIs a beam divergence angle of (2);
the scan trajectory curves for azimuth and elevation directions are:
wherein x is the azimuth direction and y is the pitch direction;
in the polar coordinate system, scanning is started from a central point, and the polar angle θ (i) and the polar diameter ρ (i) of each corresponding scanning point are expressed as:
when the scanning stay points are converted into a rectangular coordinate system, the coordinates of each scanning stay point are as follows:
where i denotes the ith scan point in the scan path, i is 1,2,3, …, N scan ；
Wherein N is scan For maximum number of scanning positions, θ FOU Representing the half-angle size of the capture area.
Preferably, the CCD output simulation includes:
calculating the offset on the CCD according to the incidence angle of the laser, and simulating the position of the light spot on the CCD according to the offset;
simulating the light spot intensity of each pixel on the image by adopting Gaussian distribution, and outputting the light spot intensity as a simulated light spot image;
the components of the incident laser light in azimuth and pitch directions are radians of each pixel in x, y directions.
Preferably, the CCD angle calculation includes:
the light spot centroid is calculated according to the light intensity of each pixel collected on the photosensitive surface of the CCD camera, the beacon light spot image on the detector consists of m multiplied by n pixels, and the position coordinate of each pixel is (x i ,y j ) The corresponding gray value is p ij (x, y), m and n are the number of transverse and longitudinal pixels of the beacon spot image, and i and j are serial numbers in the x and y directions respectively;
the calculation formula of the centroid (X, Y) of the light spot is as follows:
compared with the prior art, the invention has the following beneficial effects:
according to the invention, through analyzing the working principle of laser capturing of space gravitational wave detection, a laser capturing mode and corresponding capturing parameters are designed, and a Simulink simulation model of laser capturing is built on the basis, so that the simulation model is packaged, and the application of practical engineering is facilitated.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of a spatial laser acquisition method;
FIG. 2 is a schematic diagram of a space laser captured Simulink simulation model;
fig. 3 is a schematic view of a helical scan.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
Examples:
referring to fig. 1, the process of the spatial laser capturing method according to the present invention includes the following steps:
(1) Determining a capture scheme and a capture mode
The capture scheme employed is a "laser scanning capture scheme". The scheme adopts laser to scan the possible area of the target terminal, and detects the response signal of the target, continuously adjusts the visual axes of the two terminals, and gradually and accurately aligns and establishes a communication link.
The capturing mode is a staring/scanning capturing mode, after the execution mechanisms of the transmitting end and the detecting end are initially aligned, the receiving view field of the detecting end is larger than the capturing uncertainty area, and the beam divergence angle of the laser beam of the transmitting end is smaller than the capturing uncertainty area.
(2) Determining acquisition parameters
The size of the capture uncertainty area is determined by a plurality of factors, mainly by the total pointing error of the visual axis of the transmitting terminal in space and the capture probability, and the uncertainty area theta is selected in simulation FOU ＝15.2μrad；
The beam divergence angle of the laser is given by the ideal full width of the emission beam reduced by the gesture shake of the local spacecraft and the pointing shake of the telescope, and the beam divergence angle is selected as theta in the simulation b ＝1.43μrad；
The scanning mode is a spiral scanning mode, the capturing efficiency is high, the method is easy to realize, and according to the characteristics of the probability distribution and the uncertain area shape of the target, the area where the target terminal possibly exists is scanned by adopting equal-pitch equal-linear speed spiral scanning from the center position with the highest probability of occurrence of the target; as shown in fig. 2, a spiral scanning schematic diagram is shown, wherein an outer circle represents an uncertain region, a spiral circle represents a laser scanning path, and the size of the inner circle represents a beam divergence angle of laser;
the polar equation for helical scanning is:
wherein θ is the polar angle, ρ is the polar diameter, I θ For scanning step length, also pitch of helix, angle θ with beam divergence of beam b In connection, to ensure complete coverage of the target uncertainty region, it is common to take:
the scan trajectory curves for azimuth and elevation directions are then:
x represents the azimuth direction and y represents the pitch direction;
the maximum number of scan positions N required is due to the fact that sufficient overlap must be provided between the scan positions scan It can be estimated that:
wherein θ FOU Representing the half angle size of the uncertainty region;
in the polar coordinate system, the polar angle θ (i) and the polar diameter ρ (i) of each corresponding scanning point, starting from the center point, can be expressed as:
when the scanning stay points are converted into a rectangular coordinate system, the coordinates of each scanning stay point are as follows:
where i denotes the ith scan point in the scan path, i is 1,2,3, …, N scan 。
(3) Building Simulink model
As shown in fig. 3, the Simulink model mainly includes 3 parts:
and a scanning module: the input is the initial aiming error, and the output is the position of the receiving end in the uncertain region when receiving the signal of the transmitting end, and the position is expressed by the angle offset.
CCD analog output module: calculating the current laser incidence angle according to the output of the scanning module, calculating the offset on the CCD to simulate the position of a light spot on the CCD, simulating the light intensity of the light spot of each pixel on the image by adopting Gaussian distribution, wherein p in the output represents the light intensity of the pixel point on the CCD, dx represents the radian represented by each pixel in the x direction, dy represents the radian represented by each pixel in the y direction, and yaw and pitch represent the angles of the incident laser in the yaw and pitch directions at the current moment respectively.
CCD angle calculation module: calculating to obtain a spot centroid according to the intensity of each pixel acquired on a photosensitive surface of a CCD camera by adopting a centroid algorithm, and assuming that a beacon spot image on a detector consists of m multiplied by n pixels, the position coordinate of each pixel is (x i ,y j ) The corresponding gray value is p ij (x, y). The spot centroid (X, Y) calculation formula can be expressed as:
the outputs yaw_c and pitch_c in the block represent the offset of the current incident laser calculated by the CCD in yaw and pitch directions.
(4) Setting initial error, calculating CCD capture error
After the Simulink model is built, setting an initial alignment error, wherein the initial alignment error obeys Gaussian distribution, selecting a random module in Simulink as an initial error module, and selecting a variance of 5.184 multiplied by 10 in the embodiment -11 The obtained CCD capturing error is 3.206 ×10 in the pitching direction -7 rad, heading direction 6.86×10 -7 rad；
The error can ensure that the incident laser can enter the sensor visual field range with higher precision after the actuating mechanism adjusts the incident angle of the laser, namely the capturing is considered to be successful.
The invention provides an inter-satellite laser link capturing system for space gravitational wave detection, which comprises the following components: module M1: scanning a target terminal area through laser, adjusting the visual axes of a transmitting end and a detecting end according to response signals of a detection target, and establishing a communication link after the visual axes are aligned; module M2: setting laser capturing parameters including a capturing area, a laser beam divergence angle and a scanning mode; module M3: constructing a Simulink model to capture laser, wherein the Simulink model comprises CCD output simulation and CCD angle calculation; module M4: setting an initial alignment error, calculating a CCD capturing error, and adjusting capturing precision.
After the execution mechanisms of the transmitting end and the detecting end are initially aligned, the receiving view field of the detecting end is larger than the capturing area, and the beam divergence angle of the laser beam of the transmitting end is smaller than the capturing area. The scanning mode is a spiral scanning mode, the equal-pitch equal-linear speed spiral scanning is adopted according to the probability distribution and the shape characteristics of the capturing area, and the area where the target terminal exists is scanned from the center position with the highest probability of occurrence of the target; the polar equation for helical scanning is:
wherein θ is the polar angle, ρ is the polar diameter, I θ For scanning step length, θ b Is the beam divergence angle of the light beam;
the scan trajectory curves for azimuth and elevation directions are:
wherein x is the azimuth direction and y is the pitch direction;
in the polar coordinate system, scanning is started from a central point, and the polar angle θ (i) and the polar diameter ρ (i) of each corresponding scanning point are expressed as:
when the scanning stay points are converted into a rectangular coordinate system, the coordinates of each scanning stay point are as follows:
where i denotes the ith scan point in the scan path, i is 1,2,3, …, N scan ；
Wherein N is scan For maximum number of scanning positions, θ FOU Representing the half-angle size of the capture area.
The CCD output simulation includes: calculating the offset on the CCD according to the incidence angle of the laser, and simulating the position of the light spot on the CCD according to the offset; simulating the light spot intensity of each pixel on the image by adopting Gaussian distribution, and outputting the light spot intensity as a simulated light spot image; the components of the incident laser light in azimuth and pitch directions are radians of each pixel in x, y directions.
The CCD angle calculation includes: the centroid algorithm is adopted, the centroid of the light spot is calculated according to the light intensity of each pixel collected on the photosensitive surface of the CCD camera, the beacon light spot image on the detector consists of m multiplied by n pixels, and the position coordinate of each pixel is (x i ,y j ) The corresponding gray value is p ij (x, y), m and n are the number of transverse and longitudinal pixels of the beacon spot image, and i and j are serial numbers in the x and y directions respectively; the calculation formula of the centroid (X, Y) of the light spot is as follows:
those skilled in the art will appreciate that the systems, apparatus, and their respective modules provided herein may be implemented entirely by logic programming of method steps such that the systems, apparatus, and their respective modules are implemented as logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc., in addition to the systems, apparatus, and their respective modules being implemented as pure computer readable program code. Therefore, the system, the apparatus, and the respective modules thereof provided by the present invention may be regarded as one hardware component, and the modules included therein for implementing various programs may also be regarded as structures within the hardware component; modules for implementing various functions may also be regarded as being either software programs for implementing the methods or structures within hardware components.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (2)
1. An inter-satellite laser link acquisition method for spatial gravitational wave detection, comprising:
step 1: scanning a target terminal area through laser, adjusting the visual axes of a transmitting end and a detecting end according to response signals of a detection target, and establishing a communication link after the visual axes are aligned;
step 2: setting laser capturing parameters including a capturing area, a laser beam divergence angle and a scanning mode;
step 3: constructing a Simulink model for laser capturing, wherein the Simulink model comprises a scanning module, CCD output simulation and CCD angle calculation;
step 4: setting an initial alignment error, calculating a CCD capturing error, and adjusting capturing precision;
after the execution mechanisms of the transmitting end and the detecting end are initially aligned, the receiving view field of the detecting end is larger than the capturing area, and the beam divergence angle of the laser beam of the transmitting end is smaller than the capturing area;
the scanning mode is a spiral scanning mode, the equal-pitch equal-linear speed spiral scanning is adopted according to the probability distribution and the shape characteristics of the capturing area, and the area where the target terminal exists is scanned from the center position with the highest probability of occurrence of the target;
the polar equation for helical scanning is:
the scan trajectory curves for azimuth and elevation directions are:
wherein x is the azimuth direction and y is the pitch direction;
in the polar coordinate system, scanning is started from a central point, and the polar angle of each corresponding scanning point
And polar diameter->
Expressed as:
the scanning module includes: the input is initial alignment error, the output is the position of the receiving end in an uncertain region when receiving a signal of the transmitting end, and the position is expressed by angle offset;
the CCD output simulation includes:
calculating a current laser incidence angle according to the output of the scanning module, calculating an offset on the CCD according to the laser incidence angle, and simulating the position of a light spot on the CCD according to the offset;
simulating the light spot intensity of each pixel on the image by adopting Gaussian distribution, and outputting the light spot intensity as a simulated light spot image;
the components of the incident laser in azimuth and pitching directions are radians of each pixel in the x-axis direction and the y-axis direction;
the CCD angle calculation includes:
the centroid of the light spot is calculated according to the light intensity of each pixel collected on the photosensitive surface of the CCD camera,
the beacon spot image on the detector consists of m×n pixels, and the position coordinate of each pixel is
The corresponding gray value is +.>
M and n are the number of horizontal and vertical pixels of the beacon spot image, and i and j are serial numbers in the x and y directions respectively;
the calculation formula of the centroid (X, Y) of the light spot is as follows:
2. an inter-satellite laser link acquisition system for spatial gravitational wave detection, comprising:
module M1: scanning a target terminal area through laser, adjusting the visual axes of a transmitting end and a detecting end according to response signals of a detection target, and establishing a communication link after the visual axes are aligned;
module M2: setting laser capturing parameters including a capturing area, a laser beam divergence angle and a scanning mode;
module M3: constructing a Simulink model for laser capturing, wherein the Simulink model comprises a scanning module, CCD output simulation and CCD angle calculation;
module M4: setting an initial alignment error, calculating a CCD capturing error, and adjusting capturing precision;
after the execution mechanisms of the transmitting end and the detecting end are initially aligned, the receiving view field of the detecting end is larger than the capturing area, and the beam divergence angle of the laser beam of the transmitting end is smaller than the capturing area;
the scanning mode is a spiral scanning mode, the equal-pitch equal-linear speed spiral scanning is adopted according to the probability distribution and the shape characteristics of the capturing area, and the area where the target terminal exists is scanned from the center position with the highest probability of occurrence of the target;
the polar equation for helical scanning is:
the scan trajectory curves for azimuth and elevation directions are:
in the polar coordinate system, scanning is started from a central point, and the polar angle of each corresponding scanning point
And polar diameter->
Expressed as:
the scanning module includes: the input is initial alignment error, the output is the position of the receiving end in an uncertain region when receiving a signal of the transmitting end, and the position is expressed by angle offset;
the CCD output simulation includes:
calculating a current laser incidence angle according to the output of the scanning module, calculating an offset on the CCD according to the laser incidence angle, and simulating the position of a light spot on the CCD according to the offset;
simulating the light spot intensity of each pixel on the image by adopting Gaussian distribution, and outputting the light spot intensity as a simulated light spot image;
the components of the incident laser in azimuth and pitching directions are radians of each pixel in the x-axis direction and the y-axis direction;
the CCD angle calculation includes:
the centroid of the light spot is calculated according to the light intensity of each pixel collected on the photosensitive surface of the CCD camera,
the beacon spot image on the detector consists of m×n pixels, and the position coordinate of each pixel is
The corresponding gray value is +.>
M and n are the number of horizontal and vertical pixels of the beacon spot image, and i and j are serial numbers in the x and y directions respectively;
the calculation formula of the centroid (X, Y) of the light spot is as follows:
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| CN101567721A (en) * | 2009-04-29 | 2009-10-28 | 哈尔滨工业大学 | Beam-capturing scanning method for rapidly establishing laser link between relay satellite and user satellite |
| CN111970058A (en) * | 2020-09-22 | 2020-11-20 | 长春理工大学 | Beacon-free rapid acquisition method for laser communication between satellites |
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