CN113691298B - Automatic calibration method for double-end receiving and transmitting optical axis of laser inter-satellite link - Google Patents
Automatic calibration method for double-end receiving and transmitting optical axis of laser inter-satellite link Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18521—Systems of inter linked satellites, i.e. inter satellite service
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- H—ELECTRICITY
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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
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/118—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum specially adapted for satellite communication
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Abstract
An autonomous calibration method for a double-end receiving and transmitting optical axis of a laser inter-satellite link belongs to the technical field of satellite laser communication. The invention carries out mutual energy transmission of double-end receiving detectors by means of laser communication data frames of a link between laser satellites, and realizes automatic calibration of signal receiving and transmitting optical axes of two satellite laser terminals by mutually matching two satellite laser terminals and respectively and automatically adjusting the advanced aiming mechanism. Compared with the traditional method of calibrating by means of the optical axis of the laser ground station and the optical axis of the sending instruction in the measurement and control arc section by the aid of the on-orbit double satellites, the efficiency is greatly improved, and all-weather, all-time and all-airspace transceiving optical axis calibration can be realized. Compared with other methods for calibrating the receiving and transmitting coaxiality of a single satellite laser terminal by using a calibration reflector (calibration) arranged on a satellite, the method can calibrate the consistency of the signal receiving and transmitting optical axes of all rotation angles in the working stage of the laser terminal, does not influence the normal work of the link between laser satellites in the calibration process, and realizes the purpose of 'marking and using immediately'.
Description
Technical Field
The invention relates to an autonomous calibration method for a double-end receiving and transmitting optical axis of a laser inter-satellite link, and belongs to the technical field of satellite laser communication.
Background
Chinese patent publication No. CN201811554230.7 discloses an on-orbit calibration and transmit-receive coaxiality correction device and method for a satellite optical communication terminal. The invention mainly discloses a method for calibrating a transmitting optical axis and a receiving coaxial axis of a laser communication terminal by a calibration reflector (pyramid) arranged on a satellite in orbit. The invention mainly relates to calibration of the transmitting-receiving coaxiality of a laser terminal at a single end of a laser link in a satellite measurement and control arc section in a mode of sending an instruction and interpreting remote measurement, and does not relate to calibration of respective transmitting-receiving optical axes by matching two laser terminals of a laser inter-satellite link.
Disclosure of Invention
The invention solves the technical problems that: the method overcomes the defects of the prior art, and provides the method for automatically calibrating the receiving and transmitting optical axes of the two ends of the laser inter-satellite link. The traditional optical axis calibration mainly depends on that two stars are in a measurement and control arc section simultaneously, a ground sending instruction modulates the direction of a single-ended laser terminal PAA (poly (acrylic acid)) to observe the received light intensity of the other star and adjust the received light intensity. The invention discloses a scheme for automatically calibrating an optical axis of a link between laser satellites, which realizes the on-orbit automatic adjustment of the optical axis, optimizes the optical axis in the process of building a link and realizes the consistency of the transmitting and receiving optical axes of a full airspace.
The technical solution of the invention is as follows: the method comprises the steps of enabling two laser terminals to work in an orbit, establishing an inter-satellite link and communicating the inter-satellite link by the two laser terminals, calibrating an optical axis of the laser terminals, checking an automatic calibration error result of the inter-satellite link, correcting errors, checking an error correction result, downloading the correction result to the ground, generating a correction model and uploading and storing the correction model.
Furthermore, the two laser terminals establish an inter-satellite link and communicate, the laser inter-satellite link works in a close range and low speed mode, initial laser inter-satellite link establishment is completed, and bidirectional low-speed information transmission is achieved.
Furthermore, the calibration of the optical axes of the two laser terminals is independently carried out, and if and only if the calibration angle range of the optical axis of one laser terminal meets the requirement, the calibration of the optical axis of the other laser terminal is started.
Further, the calibration of the optical axis of the laser terminal comprises the following steps:
s41, the satellite receives the energy of the satellite communication detector of the party by receiving the laser communication frame;
s42, the satellite adjusts the deflection position of the PAA in real time according to an optimization algorithm and records the deflection position of the last PAA;
s43, the satellite judges whether the opposite satellite communication detector is lighted; if the resolving result in the laser communication frame shows that the opposite satellite communication detector does not have light, deflecting the satellite laser terminal PAA to the position of last double-satellite chain building communication; if the satellite laser terminal judges that the communication detector of the opposite satellite laser terminal has light, the next step is executed;
s44, the satellite judges whether the energy of the opposite satellite communication detector is maximum or not; if the satellite judges that the energy of the opposite satellite laser terminal communication detector is not the maximum value through the communication frame resolving result, the satellite continues to point to the optimization algorithm; if the energy of the opposite satellite laser terminal communication detector is judged to reach the maximum value, the next step is executed;
s45, stopping the PAA automatic optimization algorithm, and recording the deflection position of the PAA and the steering position CPA of the corresponding coarse pointing mechanism at the moment;
s46, judging whether the CPA azimuth or pitch angle change of the satellite is larger than a threshold value; if the CPA azimuth or pitch angle change is larger than the threshold value, returning to S42, starting the own satellite PAA optimization algorithm to start the automatic calibration of the optical axis of a new angle area; otherwise, executing the next step;
s47, judging whether the calibration angle range meets the requirement or not; if the calibration angle range does not meet the actual use angle working condition of the inter-satellite link, returning to S45; and if the calibration angle range meets the actual use angle working condition of the inter-satellite link, ending the calibration.
Further, the optimizing algorithm comprises the following steps: the satellite laser terminal generates random disturbance quantity as PAA deflection variation, and calculates an evaluation function through a follow-up algorithm according to the light energy of the opposite satellite communication detector received at different deflection positions of the PAA to obtain a position control instruction of a next PAA mechanism; the PAA mechanism is controlled iteratively to make the communication energy received by the opposite satellite reach the maximum.
Further, the error correction includes the steps of: and correcting the optical axis error according to the automatic calibration result of the optical axis of the link between the laser satellites.
Further, in the process of correcting the optical axis error, an error model is fitted by a least square method in a full airspace angle range and is corrected.
Further, the generating of the correction model comprises the following steps: the ground computer comprehensively generates a correction model by combining the correction result data with the laser terminal working condition factors, and the generated correction model reduces the data volume in a model compression mode; the working condition factors comprise on-orbit working temperature, solar illumination and laser terminal rotation angle.
Further, the correction model uploading storage comprises the following steps: and (4) injecting the correction model generated on the ground to the satellite laser terminal, and storing the correction model by a memory of the laser terminal.
A computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method for self-calibration of a laser inter-satellite link dual-end transmit-receive optical axis.
Compared with the prior art, the invention has the advantages that:
(1) The invention analyzes the laser communication frame through the double-end laser terminal of the laser inter-satellite link to obtain the energy of the communication detector of the opposite satellite laser terminal, and automatically adjusts the PAA direction of the local satellite laser terminal in a closed loop manner, and does not depend on the independent adjustment of the signal light receiving and transmitting optical axis of the double-end laser terminal of the laser inter-satellite link under the conditions of a ground station and a measurement and control arc section;
(2) The position is adjusted through a servo algorithm in the PAA adjusting process of the laser terminal, so that the optimal solution is automatically searched for the receiving and transmitting optical axes of the laser terminal;
(3) The invention completes the consistency calibration of the laser receiving and transmitting optical axes under the angular range of the CPA rotation full airspace of each laser inter-satellite link by matching the two ends of the laser inter-satellite link in sequence, and realizes the high-efficiency, full airspace and double-end laser terminal receiving and transmitting four-optical-axis closed-loop independent calibration.
Drawings
Fig. 1 is a flow chart of autonomous calibration of a double-end receiving and transmitting optical axis of a laser inter-satellite link.
Detailed Description
In order to better understand the technical solutions of the present application, the following detailed descriptions are provided with accompanying drawings and specific embodiments, and it should be understood that the specific features in the embodiments and examples of the present application are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application, and in a case of no conflict, the technical features in the embodiments and examples of the present application may be combined with each other.
The following describes in further detail a method for self-calibration of a double-end transmit-receive optical axis of a link between laser satellites provided in an embodiment of the present application with reference to the accompanying drawings of the specification, and a specific implementation manner may include (as shown in fig. 1): and the coaxiality of the signal emission optical axis, the signal capture optical axis and the signal communication tracking optical axis is calibrated. The autonomous calibration of the receiving and transmitting optical axes at the two ends of the laser inter-satellite link mainly refers to laser terminals at the two ends of the laser inter-satellite link, and the signal transmitting optical axes are adjusted respectively by taking the communication tracking receiving optical axes as a reference, so that the receiving optical energy of the laser terminal of the opposite satellite is strongest, and at the moment, the respective communication tracking receiving optical axes and the signal transmitting optical axes of the laser terminals at the two ends of the laser inter-satellite link are coaxial.
(1) After a link is initially established at the inter-laser-satellite link terminal, the consistency of the transmitting and receiving optical axes is automatically optimized, the coaxiality is improved, and the coaxiality of the transmitting and receiving optical axes at the two ends of the inter-laser-satellite link is realized.
(2) In the operation process of the laser inter-satellite link, two ends are sequentially matched, optical axis inter-satellite closed-loop adjustment of the optical axis is continuously carried out, optimal adjustment of the optical axis of the laser inter-satellite link in the whole time period and the whole airspace is achieved, the adjustment result is solidified and stored in the laser terminal.
The method for optimizing the transmitting and receiving coaxiality of the laser terminal adopts a follow-up optimizing method, and is characterized in that: the laser terminal generates random disturbance quantity as PAA deflection variation quantity, an evaluation function is calculated through a follow-up algorithm according to the light energy of the opposite satellite communication detector received under different deflection positions of PAA, the position control instruction of the PAA mechanism is obtained next time, and the final aim is to enable the communication energy received by the opposite satellite to be maximum through continuously and iteratively controlling the PAA mechanism.
The scheme provided by the embodiment of the application specifically comprises the following steps:
(1) Beginning: and the first laser terminal and the second laser terminal of the laser inter-satellite link are respectively launched into orbit along with the two satellites to complete the work of health self-check and the like.
(2) Two stars build a chain and communicate: the laser inter-satellite link works in a short-distance and low-speed mode to complete the basic establishment of the laser inter-satellite link and realize the transmission of bidirectional low-speed information.
(3) Automatic calibration of a first laser terminal optical axis: and starting the automatic calibration function of the optical axis of the first laser terminal, not calibrating the optical axis of the second laser terminal at the moment until the calibration angle range of the optical axis of the first laser terminal meets the requirement, and finishing the automatic calibration of the optical axis of the first laser terminal.
(4) And automatically calibrating an optical axis of the second laser terminal: and starting an automatic calibration function of the optical axis of the second laser terminal, not calibrating the optical axis of the first laser terminal at the moment, and ending the automatic calibration of the optical axis of the second laser terminal until the calibration angle range of the optical axis of the second laser terminal meets the requirement.
(5) Checking the automatic calibration error result of the laser intersatellite link, and restarting the automatic calibration of the optical axes of the first laser terminal and the second laser terminal if the automatic calibration error result does not meet the requirement; and entering the next stage if the requirements are met.
(6) And an error correction stage: and correcting the optical axis error according to the automatic calibration result of the optical axis of the link between the laser satellites, and fitting and correcting an error model by adopting a least square method in a full airspace angle range in the correction process.
(7) Checking an error correction result, and if the error correction result does not meet the requirement, re-correcting the error; if the requirements are met, the next phase is entered.
(8) And (5) downloading a correction result to the ground: and (4) downloading correction result data of laser inter-satellite link calculation and correction errors meeting requirements to the ground station.
(9) And (3) generating a correction model: and the ground computer comprehensively generates a correction model for the correction result data by combining the factors such as the on-orbit working temperature, the sunlight illumination, the rotation angle and the like of the laser terminal, and the generated correction model reduces the data volume in a model compression mode.
(10) And (4) correcting model upper note storage: and (4) injecting the correction model generated on the ground to the satellite laser terminal, and storing the correction model by a memory of the laser terminal.
(11) And (4) ending: and finishing the autonomous calibration of the receiving and transmitting optical axes of the laser intersatellite links.
The automatic calibration process of the optical axes of the first laser terminal and the second laser terminal which form the two ends of the laser inter-satellite link is the same, and the main process is as follows:
(1) The satellite receives the energy of the opposite satellite communication detector through the communication frame: the first laser terminal or the second laser terminal of the satellite acquires the energy value of the communication detector of the second laser terminal or the first laser terminal of the opposite satellite through the settlement of the content of the laser communication data frame.
(2) Starting a PAA optimization algorithm of the satellite: the satellite laser terminal starts an automatic optimization algorithm of an optical axis of the laser terminal, and the specific algorithm is a follow-up optimization method, namely the laser terminal generates random disturbance quantity as PAA deflection variation, an evaluation function is calculated through the follow-up algorithm according to the light energy of an opposite satellite communication detector received at different deflection positions of the PAA to obtain a position control instruction of a PAA mechanism next time, and the final aim is to control the PAA mechanism to enable the communication energy received by the opposite satellite to be maximum through continuous iteration.
(3) The present star adjusts the PAA deflection position according to the optimization algorithm and records the last PAA deflection position.
(4) The satellite judges whether the opposite satellite communication detector has light: if the resolving result in the communication frame shows that the opposite satellite communication detector does not emit light, deflecting the local satellite laser terminal PAA to the position of last double-satellite chain building communication; and if the satellite laser terminal judges that the communication detector of the satellite laser terminal has light, executing the next step.
(5) The satellite judges whether the energy of the opposite satellite communication detector is maximum or not: if the satellite judges that the energy of the opposite satellite laser terminal communication detector is not the maximum value through the communication frame resolving result, the satellite continues to point to the optimization algorithm; and if the energy of the communication detector of the laser terminal of the opposite satellite reaches the maximum value, executing the next step.
(6) PAA stopping optimizing: the PAA auto-optimization algorithm is stopped.
(7) The PAA deflection position at this time is recorded with the corresponding coarse pointing mechanism (abbreviated CPA) steering position.
(8) Judging whether the direction or pitch angle change of the CPA of the satellite is larger than a threshold value: in the automatic optical axis optimization process, a certain threshold range of CPA azimuth or pitch angle change needs to be covered, the threshold can be set by software, and a typical set value is 5 degrees. If the CPA azimuth or pitch angle change is larger than the threshold value, starting the star PAA optimization algorithm from the step (2) again to start the automatic calibration of the optical axis of a new angle area; otherwise, executing the next step.
(9) Judging whether the calibration angle range meets the requirement: if the calibration angle range does not meet the actual use angle working condition of the inter-satellite link (the azimuth angle range of the typical value covers 0-360 degrees, and the pitch angle covers 0-70 degrees), continuing to execute from the position where the PAA in the step (6) stops optimizing; and if the calibration angle range meets the actual use angle working condition of the inter-satellite link, executing the next step.
(10) And (5) finishing the automatic calibration of the single-star laser terminal.
Prerequisites for the process
The following preconditions must be met in order for the method to perform properly to achieve the desired result.
(1) The premise that double-star link building and communication are carried out is needed, the energy of a communication detector received by a link building target star is ensured to be transmitted to the laser load of the satellite, and if a bidirectional laser link is not initially built, the method cannot be implemented.
(2) In the inter-satellite link double-end receiving and transmitting optical axis automatic calibration test stage, the signal-to-noise ratio of the double-satellite receiving signals needs to be ensured to be enough as much as possible, and if the signal-to-noise ratio is not enough, the method cannot achieve a good effect.
(3) In the inter-satellite link double-end receiving and transmitting optical axis automatic calibration test stage, one star optical axis in the chain building double stars needs to be stable, and the other star carries out on-orbit optical axis automatic adjustment, so that the link interruption caused by the simultaneous optical axis automatic optimization of the double stars is avoided.
(4) The transmission delay of the optical signals of the inter-satellite link needs to be considered. Taking the inter-satellite distance 45000km as an example for calculation, the bidirectional transmission time of the light energy of the communication detector of both parties building the chain is about 0.3s, 1s can be designed to obtain the energy of the communication detector of the other party for 3 times, and the PAA deflection is controlled for 3 times.
(5) The light energy on the inter-satellite link double-end communication detector needs to be as close to Airy facula as possible, and if a plurality of peaks and valleys exist, the position of an optical axis cannot be found correctly.
(6) After the inter-satellite link is established on the orbit, in order to avoid the energy change of the communication detector in the process of two optimization algorithms from being submerged in the fluctuation of the energy of the communication detector, the algorithm adopts a de-extremum average filtering method to process the received energy of the communication detector of the opposite satellite.
A computer-readable storage medium having stored thereon computer instructions which, when executed on a computer, cause the computer to perform the method of fig. 1.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (8)
1. A method for autonomously calibrating a receiving and transmitting optical axis of two ends of a laser intersatellite link is characterized by comprising two laser terminals, two laser terminals and a communication module, wherein the two laser terminals are connected in an orbit, the two laser terminals establish intersatellite links and communicate with each other, the laser terminals perform optical axis calibration, the laser intersatellite link automatic calibration error result is checked, errors are corrected, the error correction result is checked, the correction result is downloaded to the ground, a correction model is generated, and the correction model is uploaded and stored;
optical axis calibration of the two laser terminals is independently carried out, and if and only if the calibration angle range of the optical axis of one laser terminal meets the requirement, the optical axis of the other laser terminal starts to calibrate;
the calibration of the optical axis of the laser terminal comprises the following steps:
s41, the satellite receives the energy of the satellite communication detector of the party by receiving the laser communication frame;
s42, the satellite adjusts the PAA deflection position in real time according to an optimization algorithm and records the last PAA deflection position;
s43, the satellite judges whether the opposite satellite communication detector is lighted; if the resolving result in the laser communication frame shows that the opposite satellite communication detector does not have light, deflecting the satellite laser terminal PAA to the position of last double-satellite chain building communication; if the satellite laser terminal judges that the communication detector of the opposite satellite laser terminal has light, the next step is executed;
s44, the satellite judges whether the energy of the opposite satellite communication detector is maximum or not; if the satellite judges that the energy of the opposite satellite laser terminal communication detector is not the maximum value through the communication frame resolving result, the satellite continues to point to the optimization algorithm; if the energy of the opposite satellite laser terminal communication detector reaches the maximum value, executing the next step;
s45, stopping the PAA automatic optimization algorithm, and recording the deflection position of the PAA and the steering position CPA of the corresponding coarse pointing mechanism at the moment;
s46, judging whether the CPA azimuth or pitch angle change of the satellite is larger than a threshold value; if the CPA azimuth or pitch angle change is larger than the threshold value, returning to S42, starting the own satellite PAA optimization algorithm to start the automatic calibration of the optical axis of a new angle area; otherwise, executing the next step;
s47, judging whether the calibration angle range meets the requirement or not; if the calibration angle range does not meet the actual use angle working condition of the inter-satellite link, returning to S45; and if the calibration angle range meets the actual use angle working condition of the inter-satellite link, ending the calibration.
2. The method for automatically calibrating the optical axis of the double-end receiving and transmitting of the laser inter-satellite link according to claim 1, is characterized in that: the two laser terminals establish an inter-satellite link and communicate, the laser inter-satellite link works in a short-distance and low-speed mode to complete the initial establishment of the laser inter-satellite link, and the bidirectional low-speed information transmission is realized.
3. The method for the autonomous calibration of the optical axis of the double-end transceiver of the link between the laser satellites as claimed in claim 1, wherein the optimization algorithm comprises the following steps: the satellite laser terminal generates random disturbance quantity as PAA deflection variation quantity, and calculates an evaluation function through a follow-up algorithm according to the light energy of the opposite satellite communication detector received under different deflection positions of PAA to obtain a position control instruction of a next PAA mechanism; the PAA mechanism is controlled iteratively to make the communication energy received by the opposite satellite reach the maximum.
4. The method for autonomously calibrating the optical axis of the double-end transceiver of the laser inter-satellite link according to claim 1, wherein the error correction comprises the following steps: and correcting the optical axis error according to the automatic calibration result of the optical axis of the link between the laser satellites.
5. The method for automatically calibrating the optical axis of the double-end receiving and transmitting of the laser inter-satellite link according to claim 4, is characterized in that: and in the process of correcting the optical axis error, fitting an error model by adopting a least square method in a full airspace angle range and correcting.
6. The method for the autonomous calibration of the optical axis of the double-end transceiver of the link between the laser satellites as claimed in claim 1, wherein the step of generating the correction model comprises the following steps: the ground computer comprehensively generates a correction model by combining the correction result data with the working condition factors of the laser terminal, and the generated correction model reduces the data volume in a model compression mode; the working condition factors comprise the on-orbit working temperature, the solar illumination and the rotation angle of the laser terminal.
7. The method for autonomously calibrating the optical axis of the double-end transceiver of the laser inter-satellite link according to claim 1, wherein the correction model uploading and storing comprises the following steps: and (4) injecting the correction model generated on the ground to the satellite laser terminal, and storing the correction model by a memory of the laser terminal.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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