CN113625257A - Laser self-checking method suitable for space rendezvous and docking laser radar - Google Patents
Laser self-checking method suitable for space rendezvous and docking laser radar Download PDFInfo
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- CN113625257A CN113625257A CN202110900198.9A CN202110900198A CN113625257A CN 113625257 A CN113625257 A CN 113625257A CN 202110900198 A CN202110900198 A CN 202110900198A CN 113625257 A CN113625257 A CN 113625257A
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The invention relates to a laser self-checking method suitable for a space rendezvous and docking laser radar. When the space intersection butt joint laser radar is electrified, self-checking needs to be carried out on the laser, and the laser is ensured to be in a normal state. Firstly, a laser radar is electrified, whether the laser is electrified is inquired, if the laser is not electrified, the laser is started to be enabled, the minimum current setting completion mark of the laser is cleared, if the laser is started to be enabled, the next operation is carried out, secondly, the laser is inquired whether to reset, if the laser is not reset, the laser is reset, if the laser is reset, the next operation is carried out, then, the laser is inquired whether the minimum current setting is completed, if the laser is completed, the next operation is carried out, otherwise, the laser is set to be the minimum current and the minimum current setting mark of the laser is updated, and finally, the minimum current setting completion mark of the laser is used as the self-checking result of the laser to return, namely, the self-checking of the laser is completed. The method can provide a substantial strategy for the laser self-checking algorithm of the space rendezvous and docking laser radar, and further guarantee the smooth completion of the self-checking process of the space rendezvous and docking laser radar.
Description
Technical Field
The invention relates to the field of space rendezvous and docking, in particular to a laser self-checking 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 intersection docking is a key technology of space activities, and a 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 position before docking is finally completed.
In laser radar's the operation process, the most critical part is the laser instrument, if the laser instrument operation is unusual, can lead to the laser instrument to damage on the one hand, shortens the life of laser instrument, and on the other hand also can lead to laser radar's working distance restricted, and this just means, and at laser radar power-on in-process, for guaranteeing the normal operating of laser instrument, need carry out the self-checking to the laser instrument, and then guarantee laser radar's smooth operation. From the published documents and patents, there is no laser self-inspection method for rendezvous and docking lidar related to the laser self-inspection method.
Disclosure of Invention
In view of the above, the technical solution of the present invention is: a laser self-checking method suitable for space rendezvous and docking laser radars is provided.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a laser self-checking method suitable for a space rendezvous and docking laser radar comprises the following steps:
step (1): electrifying the laser radar, starting self-checking, detecting an enabling mark of the laser, starting the enabling of the laser and clearing a minimum current setting completion mark of the laser if the laser is not enabled, then carrying out the operation of the step (4), and carrying out the operation of the step (2) if the laser is enabled;
step (2): judging whether the laser resetting is finished or not, if so, carrying out the operation of the step (3), otherwise, carrying out the resetting operation of the laser, and then carrying out the operation of the step (4);
and (3): judging whether the minimum current of the laser is set, if so, performing the operation of the step (4), otherwise, performing the minimum current setting of the laser, and updating the minimum current setting mark of the laser;
and (4): outputting the minimum current completion mark of the laser to an external unit, and finishing self-checking;
in the step (2), the laser resetting operation includes the following steps:
firstly, judging whether the execution of the laser command is finished and judging whether the setting of the laser command is changed, if the execution of the laser command is not finished or the setting of the laser command is not changed, returning to 0xAA externally and ending the reset operation of the laser, otherwise, carrying out the following operations: namely, the length of the send command is set to 4, the send command is set to ASCII code "RKP + enter", the laser set command is not set, and then the compare command is set to ASCII code "RKP! + enter ", the number of times of relaxation comparison is set to 5, and the set laser command setting is changed, and finally, return is made to 0x55 and the reset operation of the laser is ended.
Wherein, in the step (3), the setting of the minimum current of the laser comprises the following steps:
firstly, judging whether the laser current setting value is equal to the latest laser current, if so, returning to 0x55 and ending the laser minimum current setting, otherwise, carrying out the next operation: namely, whether the execution of the laser command is finished and the setting of the laser command is changed or not is judged, if the execution of the laser command is not finished or the setting of the laser command is not changed, 0xAA is returned to the outside and the minimum current setting operation of the laser is finished, otherwise, the next operation is carried out: namely, the transmission command length is set to 5 to 9, the transmission command is set to the ASCII code "SDC ═ current setting value + enter", and the command setting unfinished flag is set, and then, the comparison command is set to the ASCII code "SDC! + enter ", the number of sending comparisons is set to 5, and the laser command setting is changed, and finally, 0x55 is returned and the laser minimum current setting process is ended.
Compared with the prior art, the invention has the advantages that: the invention designs an effective rendezvous and docking laser radar laser self-inspection method which is simple and practical, can ensure the normal self-inspection of the laser radar and provides technical reference for rendezvous and docking. Meanwhile, the method can be popularized to laser self-inspection of the laser radar in other rendezvous and docking tasks, and further corresponding software and hardware strategies are designed.
Drawings
FIG. 1 is a flow chart of the laser self-test of the present invention;
FIG. 2 is a flow chart of laser reset in the present invention;
fig. 3 is a flow chart of the laser minimum current setting in 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. In order to ensure the normal operation of the laser radar, the laser radar is required to be subjected to self-checking on a key component, namely a laser, of the laser radar at the power-on time, wherein the self-checking step is as shown in the attached drawing 1, and the steps comprise:
step (1): electrifying the laser radar, starting self-checking, detecting an enabling mark of the laser system, starting the enabling of the laser system and clearing a minimum current setting completion mark of the laser if the laser system is not enabled, then carrying out the operation of the step (4), and carrying out the operation of the step (2) if the laser is enabled;
step (2): judging whether the laser resetting is finished or not, if so, carrying out the operation of the step 3, otherwise, carrying out the resetting operation of the laser, and then carrying out the operation of the step 4;
and (3): judging whether the minimum current setting of the laser is finished or not, if so, performing the operation of the step (4), otherwise, performing the minimum current setting of the laser, and updating a minimum current setting finishing mark of the laser;
and (4): outputting the minimum current completion mark of the laser to an external unit, and finishing self-checking;
in the laser self-checking process, the resetting of the laser is a key step, and the specific process is as shown in fig. 2, firstly, in order to protect the laser, it is necessary to determine whether the execution of the laser command is completed and whether the setting of the laser command is changed, if the execution of the laser command is not completed or the setting of the laser command is not changed, then externally returning to 0xAA and ending the resetting operation of the laser, otherwise, performing the next operation, then, setting the length of the sent command to 4, setting the sent command to ASCII code "RKP + enter", setting the laser command to be unfinished, and then comparing the command to be set to ASCII code "RKP! + enter ", the comparison number is set to 5, the laser command setting is changed, and finally, 0x55 is returned and the laser reset operation is ended.
In addition, as the laser reset is completed, the minimum current of the laser needs to be set next, as shown in fig. 3, first, it is determined whether the laser current setting value is equal to the last laser current, if so, return to 0x55 and end the laser minimum current setting, otherwise proceed to the next operation, then, in order to protect the laser, whether the execution of the laser command is finished and the setting of the laser command is changed is judged, if the laser command is not executed completely or the setting of the laser command is not changed, returning to 0xAA externally and ending the minimum current setting operation of the laser, otherwise, performing the next operation, then, the transmission command length is set to 5-9, the transmitted command sets the ASCII code to "SDC ═ current setting value + enter", the command set unfinished flag, and next, the comparison command sets the ASCII code to "SDC! + enter ", sending the comparison number set to 5, setting the laser command setting change, and finally returning to 0x55 and ending the laser minimum current setting process.
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 (3)
1. A laser self-checking method suitable for a space intersection butt joint laser radar is characterized by comprising the following steps:
step (1): electrifying the laser radar, starting self-checking, detecting an enabling mark of the laser, starting the enabling of the laser and clearing a minimum current setting completion mark of the laser if the laser is not enabled, then carrying out the operation of the step (4), and carrying out the operation of the step (2) if the laser is enabled;
step (2): judging whether the laser resetting is finished or not, if so, carrying out the operation of the step (3), otherwise, carrying out the resetting operation of the laser, and then carrying out the operation of the step (4);
and (3): judging whether the minimum current of the laser is set, if so, performing the operation of the step (4), otherwise, performing the minimum current setting of the laser, and updating the minimum current setting mark of the laser;
and (4): and outputting the laser minimum current completion mark to an external unit, and finishing self-checking.
2. The laser self-inspection method suitable for the space rendezvous and docking laser radar according to claim 1, wherein the method comprises the following steps:
in the step (2), the laser resetting operation includes the following steps:
firstly, judging whether the execution of the laser command is finished and judging whether the setting of the laser command is changed, if the execution of the laser command is not finished or the setting of the laser command is not changed, returning to 0xAA externally and ending the reset operation of the laser, otherwise, carrying out the following operations: namely, the length of the send command is set to 4, the send command is set to ASCII code "RKP + enter", the laser set command is not set, and then the compare command is set to ASCII code "RKP! + enter ", the number of transmission comparisons is set to 5, and the laser set command setting is changed, and finally, return is made to 0x55 and the laser reset operation is ended.
3. The laser self-inspection method suitable for the space rendezvous and docking laser radar according to claim 1, wherein the method comprises the following steps:
in the step (3), the setting of the minimum current of the laser comprises the following steps:
firstly, judging whether the laser current setting value is equal to the latest laser current, if so, returning to 0x55 and ending the laser minimum current setting, otherwise, carrying out the next operation: namely, whether the execution of the laser command is finished and the setting of the laser command is changed or not is judged, if the execution of the laser command is not finished or the setting of the laser command is not changed, 0xAA is returned to the outside and the minimum current setting operation of the laser is finished, otherwise, the next operation is carried out: namely, the transmission command length is set to 5 to 9, the transmission command is set to the ASCII code "SDC ═ current setting value + enter", and the command setting unfinished flag is set, and then, the comparison command is set to the ASCII code "SDC! + enter ", the number of sending comparisons is set to 5, and the laser command setting is changed, and finally, 0x55 is returned and the laser minimum current setting process is ended.
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2021
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