CN114124217B - Sensor data fusion method and system of space optical communication fine aiming unit - Google Patents
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Abstract
The invention provides a sensor data fusion method and system of a space optical communication fine aiming unit. The method comprises the following steps: the fine aiming control unit collects signals of the resistance strain gauge type sensor and converts the signals into a first deflection angle of the piezoelectric ceramic deflection mirror; the fine aiming control unit receives the light spot miss distance sent by the photoelectric detection and calculates a corresponding deflection angle II of the piezoelectric ceramic deflection mirror; performing Kalman filtering processing on the resistance strain gauge type sensor signals based on the deflection angle of the piezoelectric ceramic deflection mirror to obtain a first Kalman filtering processing result; and performing Kalman filtering processing on the first Kalman filtering processing result based on the deflection angle of the piezoelectric ceramic deflection mirror to obtain a second Kalman filtering processing result, and outputting the result as a sensor data fusion result of the spatial optical communication fine aiming unit. The method optimizes the data acquisition strategy of the fine aiming unit sensor, improves the feedback data precision of the fine aiming system, and ensures the stability of high-speed laser communication.
Description
Technical Field
The invention relates to the field of space laser communication, in particular to a sensor data fusion method and system of a space optical communication fine aiming unit.
Background
The space laser communication uses laser as carrier waves, establishes an inter-satellite link, and realizes high-speed and low-power-consumption information transmission which cannot be achieved by microwave communication. In the laser communication process, due to the factors of long distance, small beam divergence angle, satellite vibration, low precision of an attitude sensor and the like, the laser communication terminal cannot directly analyze the precise position of the laser communication terminal of the other party through the angle, so that a capture, aiming and Tracking (ATP) system and a fine aiming system are required to be used for ensuring the rapid establishment and stable maintenance of an inter-satellite link.
In a typical laser communication terminal, the above-mentioned composite axis method is generally used to control the laser terminal. The coarse aiming mechanism completes large-range aiming at low bandwidth, the fine aiming mechanism realizes small-range high-precision control on light beams, and a piezoelectric ceramic drive reflector is often used in a laser terminal for fine aiming control. The deflection angle range of the fine aiming mechanism is generally milliradian, the aiming precision is microradian, the control precision mainly depends on the precision of a sensor, and the control precision directly influences the quality and stability of high-speed laser communication.
Before a laser link is established, the precision aiming mechanism only has a resistance Strain Gauge type sensor (SGS) attached to piezoelectric ceramic, and can feed back the deflection angle of the piezoelectric ceramic, the sampling precision is about 7 micro-arcs, after the laser link is established, a light detector can output the light spot miss distance, and as the reflector is installed at the tail end of the piezoelectric ceramic, when the piezoelectric ceramic moves, the light spot moves along with the piezoelectric ceramic, the deflection angle of the piezoelectric ceramic can be calculated according to the light spot miss distance, and the precision is about 4 micro-arcs. Generally speaking, in a fine aiming control system, the miss distance calculated by the optical spot is input into the system as a target value, the control system does not completely exert the performance of the sensor, a part of the system measurement precision is lost, and the precision of the SGS is independently improved, so that a higher-precision circuit support is required, the requirement on external variable control is severer, and the cost is higher.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a sensor data fusion method and system for a spatial optical communication sighting unit.
In order to achieve the above purpose, the invention provides a sensor data fusion method of a space optical communication fine aiming unit, wherein the input end of a fine aiming main control unit is connected with the output end of a photoelectric detection unit, a piezoelectric ceramic deflection mirror is fixedly connected with a resistance strain gauge type sensor, and the output end of the resistance strain gauge type sensor is connected with the input end of the fine aiming main control unit;
the method comprises the following steps:
the fine aiming control unit collects the signal of the resistance strain gauge type sensor and converts the signal into a first deflection angle of a piezoelectric ceramic deflection mirror;
the fine aiming control unit receives the light spot miss distance emitted by the photoelectric detection and calculates a second corresponding deflection angle of the piezoelectric ceramic deflection mirror;
performing Kalman filtering processing on the resistance strain gauge type sensor signals based on the deflection angle of the piezoelectric ceramic deflection mirror to obtain a first Kalman filtering processing result; and performing Kalman filtering processing on the first Kalman filtering processing result based on the deflection angle of the piezoelectric ceramic deflection mirror to obtain a second Kalman filtering processing result, and outputting the result as a sensor data fusion result of the spatial optical communication fine aiming unit.
The method optimizes the data acquisition strategy of the fine aiming unit sensor, improves the feedback data precision of the fine aiming system, and ensures the stability of high-speed laser communication.
The preferable scheme of the sensor data fusion method of the space optical communication sighting unit comprises the following steps:
when the first Kalman filtering is used for carrying out Kalman filtering processing on a resistance strain gauge type sensor signal, an output result of the second Kalman filtering during data fusion at the last moment is taken into a Kalman equation, a real-time deflection angle of the piezoelectric ceramic deflection mirror is taken into a measured value, and a first Kalman filtering processing result is output;
and performing Kalman filtering for the second time, namely substituting the processing result of the first Kalman filtering at the current moment into a Kalman equation, substituting the deflection angle of the piezoelectric ceramic deflection mirror in real time into a measured value, outputting the processing result of the Kalman filtering for the second time, outputting the result as the data fusion result of the sensor of the current space optical communication fine aiming unit, and substituting the result into the Kalman equation to perform the first Kalman filtering at the next moment when the data is fused at the next moment.
The preferred scheme of the sensor data fusion method of the space optical communication fine aiming unit is as follows:
when Kalman filtering is performed, the following formula is adopted:
when the first Kalman filtering is performed, the X output by the second Kalman filtering during the data fusion of the previous time is output K+1 、P K+1 X taken into Kalman equation K-1 、P K-1 The real-time measured deflection angle of the piezoelectric ceramic deflection mirror is taken into the measured value z k Outputting the value after the first Kalman filtering at the current moment as X K Sum covariance P k ；
When the Kalman filtering is carried out for the second time, the X of the first Kalman filtering processing result at the current moment is output K 、P k X in Kalman equation K-1 、P k-1 And recording the two deflection angles of the piezoelectric ceramic deflection mirror measured in real time into a measurement value matrix as z k+1 Using z k+1 Z in the equation k And outputting the value X of the value after the second Kalman filtering at the current moment K+1 Sum covariance matrix P k+1 。
The invention also provides a sensor data fusion system of the space optical communication fine aiming unit, which comprises a fine aiming main control unit, a resistance strain gauge type sensor, a photoelectric detection unit and a piezoelectric ceramic deflection mirror, wherein the input end of the fine aiming main control unit is connected with the output end of the photoelectric detection unit, the piezoelectric ceramic deflection mirror is fixedly connected with the resistance strain gauge type sensor, and the output end of the resistance strain gauge type sensor is connected with the input end of the fine aiming main control unit; the precise aiming main control unit collects signals on the resistance strain gauge type sensor in real time and receives the spot miss amount sent by the photoelectric detection unit, and then performs fusion output on the sensor data of the space optical communication precise aiming unit according to the sensor data fusion method of the space optical communication precise aiming unit.
The invention has the beneficial effects that:
1. the invention fuses the data of the photoelectric detector and the resistance strain gauge type sensor, fully utilizes the resources of the whole laser communication system and greatly improves the sampling precision of the feedback data of the fine aiming system.
2. The sensors used in the invention are the most basic sensors in the laser communication precision aiming system, no additional hardware cost is added, the cost of the resistance strain gauge type sensor and the matching circuit thereof is moderate, and the precision of the final feedback data is improved by using the Kalman filtering algorithm on the premise of using a simpler system and lower cost.
3. The invention adopts the Kalman filtering scheme twice to perform data fusion, and reduces the operation complexity compared with the extended Kalman filtering scheme.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow diagram of the process.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection through an intermediate medium, and those skilled in the art will understand the specific meaning of the terms as they are used in the specific case.
As shown in fig. 1, the present invention provides an embodiment of a sensor data fusion method for a spatial optical communication precision aiming unit, which is applied to a precision aiming control system of a spatial laser communication terminal, and hardware of the method includes a precision aiming main control unit, a resistance strain gauge sensor SGS, a CCD photoelectric detection unit and a piezoelectric ceramic deflection mirror, wherein an input end of the precision aiming main control unit is connected with an output end of the CCD photoelectric detection unit, the piezoelectric ceramic deflection mirror is fixedly connected with the resistance strain gauge sensor SGS, and an output end of the resistance strain gauge sensor SGS is connected with an input end of the precision aiming main control unit.
The method comprises the following steps:
after a laser link is stably established, the precise aiming control unit collects SGS signals of the resistance strain gauge type sensor and converts the SGS signals into a deflection angle theta of a piezoelectric ceramic deflection mirror 1 (ii) a The fine aiming control unit receives the light spot miss amount sent by the photoelectric detection and calculates the corresponding deflection angle two theta of the piezoelectric ceramic deflection mirror 2 ；
Performing Kalman filtering processing on the resistance strain gauge type sensor signals based on the deflection angle of the piezoelectric ceramic deflection mirror to obtain a first Kalman filtering processing result; and performing Kalman filtering processing on the first Kalman filtering processing result based on the deflection angle of the piezoelectric ceramic deflection mirror to obtain a second Kalman filtering processing result, and outputting the result as a sensor data fusion result of the spatial optical communication fine aiming unit.
According to the method, the two sensors are fused through a Kalman filtering algorithm to serve as feedback quantity of a system, and the measurement precision of the piezoelectric ceramic is improved.
Because the deflection angle of the piezoelectric ceramic needs to be fed back in real time in a precise aiming control system of the space laser communication terminal, the preferred scheme of the embodiment is provided, and the following is specifically provided:
based on the above embodiment, when the first kalman filtering is performed on the resistance strain gauge type sensor signal, the output result of the second kalman filtering during the data fusion at the previous time is taken into the kalman equation, the real-time deflection angle of the piezoelectric ceramic deflection mirror is taken into the measurement value, and the first kalman filtering processing result is output.
And performing Kalman filtering for the second time, namely substituting the processing result of the first Kalman filtering at the current moment into a Kalman equation, substituting the deflection angle of the piezoelectric ceramic deflection mirror in real time into a measured value, outputting the processing result of the Kalman filtering for the second time, outputting the result as the data fusion result of the sensor of the current space optical communication fine aiming unit, and substituting the result into the Kalman equation to perform the first Kalman filtering at the next moment when the data is fused at the next moment.
When kalman filtering is performed, the following formula is adopted:
When the first Kalman filtering is performed, the X output by the second Kalman filtering during the data fusion of the previous time is output K+1 、P K+1 X taken into Kalman equation K-1 、P K-1 The real-time deflection angle of the piezoelectric ceramic deflection mirror is brought into the measured value z k The measurement covariance referred to here may be preset, and in this embodiment, preferably but not limited to R =7E-6, and the value after the first kalman filtering at the current time is output as X K Sum covariance P k . It is worth noting that: when initializing Kalman filter, unit vector X 0 ＝[1，1，1]By bringing into X K-1 Unit matrix
Bring in P K-1 。
When the Kalman filtering is carried out for the second time, the X of the first Kalman filtering processing result at the current moment is output K 、P k X in Kalman equation K-1 、P K-1 Recording the real-time piezoelectric ceramic deflection angle of the deflection mirror into a measurement value matrix as z k+1 Z in the equation k The measurement covariance referred to here may be preset, and in this embodiment, preferably but not limited to R =4E-6, and the value X after the second kalman filtering at the current time is output K+1 Sum covariance matrix P k+1 With X K+1 As a piezoelectric ceramic deflection angle; and the value X of the value after the second Kalman filtering at the current moment is obtained K+1 Sum covariance matrix P k+1 And substituting a Kalman equation to carry out the first Kalman filtering at the next moment when the data at the next moment are fused.
The invention also provides an embodiment of a sensor data fusion system of the space optical communication fine aiming unit, which comprises a fine aiming main control unit, a resistance strain gauge type sensor, a CCD photoelectric detection unit and a piezoelectric ceramic deflection mirror, wherein the input end of the fine aiming main control unit is connected with the output end of the CCD photoelectric detection unit, the piezoelectric ceramic deflection mirror is fixedly connected with the resistance strain gauge type sensor, and the output end of the resistance strain gauge type sensor is connected with the input end of the fine aiming main control unit; the precision aiming main control unit collects signals on the resistance strain gauge type sensor in real time and receives light spot miss amount sent by the CCD photoelectric detection unit, and then sensor data of the space optical communication precision aiming unit is fused and output according to the sensor data fusion method of the space optical communication precision aiming unit and fed back to the piezoelectric ceramic deflection angle.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (4)
1. A sensor data fusion method of a space optical communication fine aiming unit is characterized in that the input end of a fine aiming main control unit is connected with the output end of a photoelectric detection unit, a piezoelectric ceramic deflection mirror is fixedly connected with a resistance strain gauge type sensor, and the output end of the resistance strain gauge type sensor is connected with the input end of the fine aiming main control unit;
the method comprises the following steps:
the fine aiming control unit collects the signal of the resistance strain gauge type sensor and converts the signal into a first deflection angle of a piezoelectric ceramic deflection mirror;
the fine aiming control unit receives the light spot miss distance sent by the photoelectric detection unit and calculates a corresponding deflection angle II of the piezoelectric ceramic deflection mirror;
performing Kalman filtering processing on the resistance strain gauge type sensor signals based on the deflection angle of the piezoelectric ceramic deflection mirror to obtain a first Kalman filtering processing result; and performing Kalman filtering processing on the first Kalman filtering processing result based on the deflection angle of the piezoelectric ceramic deflection mirror to obtain a second Kalman filtering processing result, and outputting the result as a sensor data fusion result of the spatial optical communication fine aiming unit.
2. The sensor data fusion method of the spatial light communication sighting unit according to claim 1,
when the first Kalman filtering is used for carrying out Kalman filtering processing on a resistance strain gauge type sensor signal, an output result of the second Kalman filtering during data fusion at the last moment is taken into a Kalman equation, a real-time deflection angle of a piezoelectric ceramic deflection mirror is taken into a measured value, and a first Kalman filtering processing result is output;
and performing Kalman filtering for the second time, namely substituting the processing result of the first Kalman filtering at the current moment into a Kalman equation, substituting the deflection angle of the piezoelectric ceramic deflection mirror in real time into a measured value, outputting the processing result of the Kalman filtering for the second time, outputting the result as the data fusion result of the sensor of the current space optical communication fine aiming unit, and substituting the result into the Kalman equation to perform the first Kalman filtering at the next moment when the data is fused at the next moment.
3. The sensor data fusion method of the spatial light communication sighting unit according to claim 1 or 2,
when Kalman filtering is performed, the following formula is adopted:
when the first Kalman filtering is performed, the X output by the second Kalman filtering during the data fusion of the previous time is output K+1 、P K+1 X taken into Kalman equation K-1 、P K-1 The real-time measured deflection angle of the piezoelectric ceramic deflection mirror is taken into the measured value z k Outputting the value of the current moment after the first Kalman filtering as X K Sum covariance P k ；
When the Kalman filtering is performed for the second time, the X output by the first Kalman filtering processing result at the current moment is output K 、P k X in Kalman equation K-1 、P k-1 The piezoelectric ceramic deflection angle measured in real time is brought into a measurement value matrix and is recorded as z k+1 Using z k+1 Z in the equation k And outputting the value X after the second Kalman filtering at the current moment K+1 Sum covariance matrix P k+1 。
4. A sensor data fusion system of a space optical communication fine aiming unit is characterized by comprising a fine aiming main control unit, a resistance strain gauge type sensor, a photoelectric detection unit and a piezoelectric ceramic deflection mirror, wherein the input end of the fine aiming main control unit is connected with the output end of the photoelectric detection unit, the piezoelectric ceramic deflection mirror is fixedly connected with the resistance strain gauge type sensor, and the output end of the resistance strain gauge type sensor is connected with the input end of the fine aiming main control unit; the precision aiming main control unit collects signals on the resistance strain gauge type sensor in real time and receives light spot miss amount sent by the photoelectric detection unit, and then sensor data of the space optical communication precision aiming unit is fused and output according to the sensor data fusion method of the space optical communication precision aiming unit of any one of claims 1 to 3.
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| CN106227035A (en) * | 2016-09-05 | 2016-12-14 | 中国科学院光电技术研究所 | A kind of motion platform low profile photovoltaic system high accuracy pointing control method |
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