CN113608194A - Energy self-adaptive control method suitable for space rendezvous and docking laser radar - Google Patents
Energy self-adaptive control method suitable for space rendezvous and docking laser radar Download PDFInfo
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- CN113608194A CN113608194A CN202110900188.5A CN202110900188A CN113608194A CN 113608194 A CN113608194 A CN 113608194A CN 202110900188 A CN202110900188 A CN 202110900188A CN 113608194 A CN113608194 A CN 113608194A
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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
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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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Abstract
The invention relates to an energy self-adaptive control method suitable for a space rendezvous and docking laser radar. Firstly, in a long-distance section more than 10km, the energy of a laser is adjusted to be maximum, a two-stage gain VGA of a circuit is adjusted to be maximum, and the energy of a light adjusting plate is adjusted to be maximum. And secondly, performing echo intensity closed-loop control at a middle and short distance stage of less than 10km, and controlling the echo intensity amplitude to 800 (the maximum amplitude is 1200 when the detector is saturated) through two-stage VGA joint adjustment. And then when the primary VGA is adjusted to be minimum, the current of the secondary VGA and the laser is adjusted jointly, and the amplitude of the echo intensity is controlled to be 800. And finally, in a short-distance section, when the currents of the secondary VGA and the laser are both regulated to be minimum, the energy of the light adjusting disk is regulated, and the amplitude of the echo intensity is always controlled to be 600. The invention provides a substantial strategy for the space rendezvous and docking laser radar, thereby ensuring the smooth completion of the space rendezvous and docking process.
Description
Technical Field
The invention relates to the technical field of space rendezvous and docking, in particular to an energy self-adaptive control method suitable for a space rendezvous and docking laser radar, which is used for developing the space rendezvous and docking laser radar and can be popularized to the design of other rendezvous and docking laser radars.
Background
Space rendezvous and docking is a key technology of space technology. The relative measurement sensor laser radar is used for measuring parameters such as the distance, the distance change rate, the angle change rate and the like of two spacecrafts in space from dozens of kilometers to the final completion of butt joint.
In the process of rendezvous and docking of the two spacecrafts, a far-field cooperative target is tracked remotely, a near-field cooperative target is tracked closely, and the energy of the laser radar needs to be automatically adjusted in different distance sections. The laser current, the two-stage gain VGA of the circuit and the energy of the light adjusting disk are adjusted to the maximum in a long-distance section more than 10 km; in the medium and short distance section less than 10km, the energy of the laser radar needs to be adaptively adjusted according to the detected echo energy, and the echo intensity is controlled to be in a proper range. The echo intensity is too weak, and it is difficult to guarantee that laser radar gets into stable tracking state, and the echo energy is too strong, leads to the detector damage again easily, in addition, at the in-process that far field target and near field target switched each other, also need the energy of adjustment to the target of treating the tracking is tracked smoothly. This means that the laser radar energy needs to be adaptively controlled during the rendezvous and docking process of the airship, so as to ensure the smooth proceeding of the rendezvous and docking process. From the published documents and patents at present, there is no adaptive control method for energy of laser radar in rendezvous and docking related to the method.
Disclosure of Invention
In view of the above, the technical solution of the present invention is: the energy self-adaptive control method is suitable for the space rendezvous and docking laser radar.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
an energy self-adaptive control method suitable for a space rendezvous and docking laser radar is a real-time energy control method and comprises the following steps:
step (1): in the scanning stage, firstly, scanning energy is set in a segmented mode according to the distance so that the laser radar can find a target in the scanning process, and when the target is detected, the laser radar enters a tracking state;
step (2): in the tracking stage, the laser radar adjusts energy in real time according to a tracked target, mainly comprising energy adjustment of a distance greater than 10km and energy adjustment methods of other distances, and different adjustment modes are provided when the airship approaches and withdraws;
wherein, step (2) includes:
step (21): when the laser radar is in a tracking stage and the distance is more than 10km, the laser radar adjusts the current of the laser to be maximum, the two-stage gain VGA of the circuit is adjusted to be maximum, and the energy of the optical disk is adjusted to be maximum, so that the energy of the laser radar is always ensured to be maximum no matter the airship approaches or leaves; the two-stage gain VGA comprises a first-stage VGA and a second-stage VGA;
step (22): when the laser radar is in a tracking stage and the distance is less than or equal to 10km, the laser radar performs closed-loop energy control according to the amplitude of the echo intensity, and different energy control methods are provided according to approaching and evacuating.
Further, in step (1), the specific settings of the distance segments and energies involved in setting the scanning energy according to the distance segments are as follows: in the range of 0-2 m, the laser current is the smallest A grade, the secondary VGA value is 100, the primary VGA is the smallest A grade, and the CD is 220; in the range of 2m to 10m, the laser current is the smallest A grade, the secondary VGA value is 100, the primary VGA is the smallest A grade, and the CD adjusting is 180; in the range of 10m to 100m, the current of the laser is the minimum A grade, the value of the secondary VGA is 100, the primary VGA is the minimum A grade, and the dimming disc is 100; at 100 m-400 m, the laser current is the smallest A grade, the secondary VGA value is 100, the primary VGA is the smallest A grade, and the CD adjusting disc is 35; at 400 m-2000 m, the laser current is B grade, the secondary VGA value is 600, the primary VGA is B grade, and the CD adjusting disc is 35; in the range of 2000m to 4000m, the current of the laser is C grade, the value of the secondary VGA is 600, the primary VGA is C grade, and the number of the optical disk is 35; at 4000-10000 m, the current of the laser is D grade, the value of the secondary VGA is 600, the primary VGA is D grade, and the number of the optical disk is 35; over 10000m, the laser current is E grade, the secondary VGA value is 600, the primary VGA is E grade, and the CD adjusting disc is 35; the smaller the value of the light adjusting disc is, the stronger the light emitting energy is represented, the larger the value of the light adjusting disc is, the weaker the light emitting energy is represented, and the value represents the change of the echo energy in the range of 1-10000 times.
Further, in step (22), the energy control method with different energy according to the approach and the evacuation specifically includes:
when the laser radar approaches a target along with the airship, in a middle-long distance section less than 10km, firstly adjusting two-stage gain VGA, and controlling the amplitude of the echo intensity to be 800 all the time, namely two thirds of the peak value, through the combined adjustment of the first-stage VGA and the second-stage VGA, then, when the first-stage VGA is adjusted to be minimum, performing the combined adjustment of the second-stage VGA and the laser current, and also controlling the amplitude of the echo intensity to be 800 all the time, and finally, when the laser current and the second-stage VGA are adjusted to be minimum, performing the energy adjustment of a light adjusting disc, and controlling the amplitude of the echo intensity to be 600 all the time;
when the laser radar leaves the target along with the airship, in a short distance section which is less than 10km, the amplitude of the echo intensity is controlled to 600 through the energy adjustment of the light adjusting disc, then, when the energy of the light adjusting disc is adjusted to be maximum, the combined adjustment of the secondary VGA and the laser current is carried out, at the moment, the echo intensity is controlled to 800, then, when the currents of the secondary VGA and the laser are adjusted to be maximum, the combined adjustment of the primary VGA and the secondary VGA is carried out, the amplitude of the echo intensity is also controlled to 800, then, when the two-stage gain VGA, the laser current and the energy of the light adjusting disc are all adjusted to be maximum, and the distance is less than 10km, the current energy is kept, so that the laser radar can track the target.
Further, in step (22), the performing closed-loop control energy according to the amplitude of the echo intensity specifically includes: firstly, setting a proportionality coefficient Kp with the value of 0.05, then, taking the current echo intensity value-echo intensity central value as an echo intensity deviation value and taking an absolute value, then multiplying the deviation value by the proportionality coefficient Kp as a feedback value, if the deviation value is used for gain VGA adjustment, the maximum adjustment value is 30, otherwise, the adjustment value of the VGA is used as the feedback value, if the deviation value is used for dimming disc closed-loop adjustment, the deviation value is used as the calculation basis of the frequency division coefficient of the dimming motor, the motor is controlled to rotate to a proper angle, and the maximum single feedback value is not more than 10.
Furthermore, the adjusting range of the two-stage VGA is 100-600, continuous adjustment can be carried out, the minimum adjusting value of each cycle is 1, and the maximum adjusting value is 30.
Furthermore, the adjustment value of the first-level VGA is stepped adjustment, and the values corresponding to the gears 1-6 are 100, 200, 300, 400, 500 and 600 respectively.
Further, the adjustment value of the laser current is a stepped adjustment, and the current values corresponding to the gears a to E are 0.05A, 0.08A, 0.12A, 0.15A and 0.18A, respectively.
Furthermore, the adjusting range of the dimming disc is 35-250, and the dimming disc can be continuously adjusted, wherein the minimum adjusting value of each cycle is 1, and the maximum value is 10.
Compared with the prior art, the invention has the advantages that:
the invention designs an effective rendezvous and docking laser radar energy self-adaptive control method, which is simple and practical, can ensure the effective energy adjustment of the laser radar, and provides technical reference for rendezvous and docking. Meanwhile, the invention can also be popularized to laser radar energy regulation in other rendezvous and docking tasks, and further corresponding software and hardware strategies are designed.
Drawings
FIG. 1 is a diagram of the energy conditioning steps of the present invention;
FIG. 2 is a flow chart of the two-stage VGA and one-stage VGA shift adjustment in the present invention;
FIG. 3 is a flow chart of the two-stage VGA and current level adjustment of the present invention;
fig. 4 is a flow chart of the power adjustment of the optical disc according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The space intersection butt joint laser radar is mainly used for intersection butt joint of an airship and a space station, and provides relative pose parameters including distance, distance change rate, angle change rate and the like for butt joint of the airship and the space station. Along with approaching or withdrawing of distance, the energy requirements on the laser radar are different, the light emitting energy is required to be as strong as possible at long distance so as to find and track a target, but the energy is required not to be too strong at short distance so as to damage a detector. Therefore, adaptive control of the energy is required. The whole energy control method is real-time, and the energy control steps are shown as the attached figure 1, and the method comprises the following steps:
step (1): in the scanning stage, firstly, scanning energy is set in a segmented mode according to the distance so that the laser radar can find a target in the scanning process, and when the target is detected, the laser radar enters a tracking state;
step (2): in the tracking stage, the laser radar adjusts energy in real time according to a tracked target, mainly comprising energy adjustment of a distance greater than 10km and energy adjustment methods of other distances, and different adjustment modes are provided when the airship approaches and withdraws;
wherein the step (2) comprises:
step (21): when the laser radar is in a tracking stage and the distance is more than 10km, the laser radar adjusts the current of the laser to be maximum, the two-stage gain VGA of the circuit is adjusted to be maximum, and the energy of the optical disk is adjusted to be maximum, so that the energy of the laser radar is always ensured to be maximum no matter the airship approaches or leaves;
step (22): when the laser radar is in a tracking stage and the distance is less than or equal to 10km, the laser radar performs closed-loop energy control according to the amplitude of the echo intensity, and different energy control methods are provided according to approaching and evacuating;
along with the difference of the distance, different parameters need to be controlled, specifically, when the laser radar approaches a target along with the airship, in a middle-long distance section less than 10km, the two-stage VGA is firstly adjusted, the amplitude of the echo intensity is always controlled to 800 through the combined adjustment of the first-stage VGA and the second-stage VGA, then, when the first-stage VGA is adjusted to the minimum, the combined adjustment of the second-stage VGA and the laser current is carried out, the amplitude of the echo intensity is also always controlled to 800, and finally, when the laser current and the second-stage VGA are both adjusted to the minimum, the energy adjustment of a light adjusting disc is carried out, and at the moment, the amplitude of the echo intensity is always controlled to 600; when the laser radar leaves the target along with the airship, in a short distance section, firstly, the amplitude of the echo intensity is controlled to 600 through the energy adjustment of the light adjusting disc, secondly, when the energy of the light adjusting disc is adjusted to be maximum, the combined adjustment of the secondary VGA and the laser current is carried out, at the moment, the echo intensity is controlled to 800, secondly, when the currents of the secondary VGA and the laser are adjusted to be maximum, the combined adjustment of the primary VGA and the secondary VGA is carried out, the amplitude of the echo intensity is also controlled to 800, secondly, when the currents of the two VGA stages, the laser current and the light adjusting disc are adjusted to be maximum, and the distance is less than 10km, the current energy is kept to ensure that the laser radar can track the target, and finally, when the distance is more than 10km, if the current energy is not maximum, the VGA, the laser current and the light adjusting disc are all adjusted to be maximum.
In addition, along with the difference of the distance, the control methods of different parameters are different, and in the long-distance stage, as shown in fig. 2, when the laser current has been adjusted to the maximum, at this time, the first-stage VGA and the second-stage VGA are required to be jointly adjusted, the echo intensity amplitude is controlled to 800, the whole adjustment mode is similar to the adjustment mode of the current level and the second-stage VGA, firstly, a proportionality coefficient Kp is set, the value of the proportionality coefficient Kp is 0.05, then, the current echo intensity value-echo intensity central value is used as the echo intensity deviation value and an absolute value is taken, then, the deviation value is multiplied by the proportionality coefficient Kp to be used as a feedback value, and the maximum adjustment value is 30, otherwise, the feedback value is the feedback value. When the two-stage VGA is adjusted to limit values at two ends, the gear of the one-stage VGA is required to be shifted up or down. When the second-level VGA is within the adjustable range of 100-600, the VGA adjusting value calculated according to the echo intensity deviation is the adjusting value of the second-level VGA, and at the moment, only the second-level VGA needs to be adjusted. In the middle and long distance stage, as shown in fig. 3, the two-stage VGA and the laser current are jointly controlled, firstly, a proportionality coefficient Kp is set, the value is 0.05, then, the current echo intensity value-echo intensity central value is used as the echo intensity deviation value and the absolute value is taken, then the deviation value is multiplied by the proportionality coefficient Kp to be used as the feedback value, and the maximum regulation value is 30, otherwise, the feedback value is obtained. When the secondary VGA is adjusted to the limits at both ends, it is necessary to upshift or downshift the laser current gear. When the second-level VGA is within the adjustable range of 100-600, the VGA adjusting value calculated according to the echo intensity deviation is the adjusting value of the second-level VGA, and at the moment, only the second-level VGA needs to be adjusted. In the short-distance stage, as shown in fig. 4, the energy control of the optical disc is performed by setting a proportionality coefficient Kp with a value of 0.05, taking the current echo intensity value-echo intensity center value as the echo intensity deviation value and taking the absolute value, then multiplying the deviation value by the proportionality coefficient Kp as the feedback value, and setting the maximum adjustment value to 10, otherwise, taking the feedback value. The feedback value is converted into a frequency division coefficient of the motor to control the motor to rotate to a proper position, and the amplitude of the echo intensity can be controlled to 600 all the time.
Finally, when the target is lost or the lidar is in a state of being powered on, the scanning energy of the lidar needs to be set at the moment, and the specific setting is as follows:
in the range of 0-2 m, the laser current is the smallest A grade, the secondary VGA value is 100, the primary VGA is the smallest A grade, and the CD is 220; in the range of 2m to 10m, the laser current is the smallest A grade, the secondary VGA value is 100, the primary VGA is the smallest A grade, and the CD adjusting is 180; in the range of 10m to 100m, the current of the laser is the minimum A grade, the value of the secondary VGA is 100, the primary VGA is the minimum A grade, and the dimming disc is 100; at 100 m-400 m, the laser current is the smallest A grade, the secondary VGA value is 100, the primary VGA is the smallest A grade, and the CD adjusting disc is 35; at 400 m-2000 m, the laser current is B grade, the secondary VGA value is 600, the primary VGA is B grade, and the CD adjusting disc is 35; in the range of 2000m to 4000m, the current of the laser is C grade, the value of the secondary VGA is 600, the primary VGA is C grade, and the number of the optical disk is 35; at 4000-10000 m, the current of the laser is D grade, the value of the secondary VGA is 600, the primary VGA is D grade, and the number of the optical disk is 35; above 10000m, the laser current is E grade, the secondary VGA value is 600, the primary VGA is E grade, and the CD adjusting disc is 35.
The smaller the value of the light adjusting disc is, the stronger the light emitting energy is represented, the larger the value of the light adjusting disc is, the weaker the light emitting energy is represented, and the value represents the change of the echo energy in the range of 1-10000 times.
The foregoing is a disclosure of specific embodiments of the present invention, and details not described herein are within the skill of the art. The scope of the present invention is not limited thereto, and any modifications, equivalents and improvements made by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (8)
1. An energy self-adaptive control method suitable for a space rendezvous and docking laser radar is characterized by being a real-time energy control method and comprising the following steps of:
step (1): in the scanning stage, firstly, scanning energy is set in a segmented mode according to the distance so that the laser radar can find a target in the scanning process, and when the target is detected, the laser radar enters a tracking state;
step (2): in the tracking stage, the laser radar adjusts energy in real time according to a tracked target, mainly comprising energy adjustment of a distance greater than 10km and energy adjustment methods of other distances, and different adjustment modes are provided when the airship approaches and withdraws;
wherein, step (2) includes:
step (21): when the laser radar is in a tracking stage and the distance is more than 10km, the laser radar adjusts the current of the laser to be maximum, the two-stage gain VGA of the circuit is adjusted to be maximum, and the energy of the optical disk is adjusted to be maximum, so that the energy of the laser radar is always ensured to be maximum no matter the airship approaches or leaves; the two-stage gain VGA comprises a first-stage VGA and a second-stage VGA;
step (22): when the laser radar is in a tracking stage and the distance is less than or equal to 10km, the laser radar performs closed-loop energy control according to the amplitude of the echo intensity, and different energy control methods are provided according to approaching and evacuating.
2. The energy adaptive control method for the space rendezvous and docking lidar according to claim 1, wherein:
in step (1), the specific setting of the distance segments and energies involved in setting the scanning energy according to the distance segments is as follows: in the range of 0-2 m, the laser current is the smallest A grade, the secondary VGA value is 100, the primary VGA is the smallest A grade, and the CD is 220; in the range of 2m to 10m, the laser current is the smallest A grade, the secondary VGA value is 100, the primary VGA is the smallest A grade, and the CD adjusting is 180; in the range of 10m to 100m, the current of the laser is the minimum A grade, the value of the secondary VGA is 100, the primary VGA is the minimum A grade, and the dimming disc is 100; at 100 m-400 m, the laser current is the smallest A grade, the secondary VGA value is 100, the primary VGA is the smallest A grade, and the CD adjusting disc is 35; at 400 m-2000 m, the laser current is B grade, the secondary VGA value is 600, the primary VGA is B grade, and the CD adjusting disc is 35; in the range of 2000m to 4000m, the current of the laser is C grade, the value of the secondary VGA is 600, the primary VGA is C grade, and the number of the optical disk is 35; at 4000-10000 m, the current of the laser is D grade, the value of the secondary VGA is 600, the primary VGA is D grade, and the number of the optical disk is 35; over 10000m, the laser current is E grade, the secondary VGA value is 600, the primary VGA is E grade, and the CD adjusting disc is 35; the smaller the value of the light adjusting disc is, the stronger the light emitting energy is represented, the larger the value of the light adjusting disc is, the weaker the light emitting energy is represented, and the value represents the change of the echo energy in the range of 1-10000 times.
3. The energy adaptive control method for the space rendezvous and docking lidar according to claim 1, wherein:
in step (22), the energy control method having different energy control methods according to the approach and the evacuation specifically includes:
when the laser radar approaches a target along with the airship, in a middle-long distance section less than 10km, firstly adjusting two-stage gain VGA, and controlling the amplitude of the echo intensity to be 800 all the time, namely two thirds of the peak value, through the combined adjustment of the first-stage VGA and the second-stage VGA, then, when the first-stage VGA is adjusted to be minimum, performing the combined adjustment of the second-stage VGA and the laser current, and also controlling the amplitude of the echo intensity to be 800 all the time, and finally, when the laser current and the second-stage VGA are adjusted to be minimum, performing the energy adjustment of a light adjusting disc, and controlling the amplitude of the echo intensity to be 600 all the time;
when the laser radar leaves the target along with the airship, in a short distance section which is less than 10km, the amplitude of the echo intensity is controlled to 600 through the energy adjustment of the light adjusting disc, then, when the energy of the light adjusting disc is adjusted to be maximum, the combined adjustment of the secondary VGA and the laser current is carried out, at the moment, the echo intensity is controlled to 800, then, when the currents of the secondary VGA and the laser are adjusted to be maximum, the combined adjustment of the primary VGA and the secondary VGA is carried out, the amplitude of the echo intensity is also controlled to 800, then, when the two-stage gain VGA, the laser current and the energy of the light adjusting disc are all adjusted to be maximum, and the distance is less than 10km, the current energy is kept, so that the laser radar can track the target.
4. The energy adaptive control method for the space rendezvous and docking lidar according to claim 1, wherein:
in step (22), the performing closed-loop control energy according to the amplitude of the echo intensity specifically includes: firstly, setting a proportionality coefficient Kp with the value of 0.05, then, taking the current echo intensity value-echo intensity central value as an echo intensity deviation value and taking an absolute value, then multiplying the deviation value by the proportionality coefficient Kp as a feedback value, if the deviation value is used for gain VGA adjustment, the maximum adjustment value is 30, otherwise, the adjustment value of the VGA is used as the feedback value, if the deviation value is used for dimming disc closed-loop adjustment, the deviation value is used as the calculation basis of the frequency division coefficient of the dimming motor, the motor is controlled to rotate to a proper angle, and the maximum single feedback value is not more than 10.
5. An energy adaptive control method suitable for a space rendezvous and docking lidar according to any one of claims 2-4, wherein:
the adjusting range of the two-stage VGA is 100-600, continuous adjustment can be carried out, the minimum adjusting value of each cycle is 1, and the maximum adjusting value is 30.
6. An energy adaptive control method suitable for a space rendezvous and docking lidar according to any one of claims 2-4, wherein:
the adjusting value of the first-level VGA is adjusted in a grading mode, and the values corresponding to the gears 1-6 are 100, 200, 300, 400, 500 and 600 respectively.
7. An energy adaptive control method suitable for a space rendezvous and docking lidar according to any one of claims 2-4, wherein:
the adjustment value of the laser current is step adjustment, and the current values corresponding to the gears A-E are 0.05A, 0.08A, 0.12A, 0.15A and 0.18A respectively.
8. An energy adaptive control method suitable for a space rendezvous and docking lidar according to any one of claims 2-4, wherein:
the adjusting range of the light adjusting disc is 35-250, the light adjusting disc can be adjusted continuously, the minimum adjusting value of each cycle is 1, and the maximum value is 10.
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| CN103869457A (en) * | 2014-02-24 | 2014-06-18 | 中国空间技术研究院 | Light concentrating multipurpose satellite system with adjustable power density |
| CN110018492A (en) * | 2019-04-28 | 2019-07-16 | 中国科学院西安光学精密机械研究所 | Two waveband intersects formula active illumination Range-gated Imager system and imaging method |
| US20210033721A1 (en) * | 2019-07-29 | 2021-02-04 | Thales | Secondary radar with mode s adaptive beam control for each aircraft |
| CN110401483A (en) * | 2019-08-07 | 2019-11-01 | 长春理工大学 | A kind of laser communication device and method |
| CN111403995A (en) * | 2020-03-06 | 2020-07-10 | 上海机电工程研究所 | Large dynamic pulse laser emission peak power modulation method |
| CN112697075A (en) * | 2020-12-03 | 2021-04-23 | 中国科学院光电技术研究所 | Projection area analysis method for rendezvous and docking laser radar cooperative target |
| CN112711266A (en) * | 2020-12-03 | 2021-04-27 | 中国科学院光电技术研究所 | Near-far field switching control method for lunar orbit intersection butt joint laser radar |
| CN112882052A (en) * | 2021-01-15 | 2021-06-01 | 中国科学院光电技术研究所 | Laser radar for space rendezvous and docking |
| CN112904764A (en) * | 2021-01-15 | 2021-06-04 | 中国科学院光电技术研究所 | Space intersection butt joint laser radar scanning tracking control system and method |
| CN112909723A (en) * | 2021-01-15 | 2021-06-04 | 中国科学院光电技术研究所 | Large dynamic laser emitting device for space rendezvous and docking |
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