CN114137994A - Image and communication composite high-precision tracking control method in airborne laser communication system - Google Patents
Image and communication composite high-precision tracking control method in airborne laser communication system Download PDFInfo
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Abstract
The invention relates to an image and communication composite high-precision tracking control method in an airborne laser communication system, which is characterized in that the two parts are initially aligned to a target under the guidance of a radar or a GPS (global positioning system); after a ground target enters an airborne photoelectric pod medium wave infrared detection tracking field of view, the airborne photoelectric pod performs target image extraction and identification on the ground target image; the airborne photoelectric pod carries out image tracking on the identified ground target image; after the tracking is finished, starting communication emission light and 1064nm indicating laser; receiving light by a ground near-infrared/laser detection unit, and tracking a target image/light spot; after the tracking is finished, the ground servo turntable starts communication to emit light and indication laser; the near infrared/laser detection unit of the airborne photoelectric pod tracks images/light spots of a ground target; and the four image limit detectors of the two platforms track and communicate. The tracking precision of the system is improved; meanwhile, the response time is improved; and the four image limit detectors are adopted for tracking and communication, so that the combination of tracking and communication is realized.
Description
Technical Field
The invention belongs to the technical field of spatial laser communication (APT), and particularly relates to an image and communication composite high-precision tracking control method in an airborne laser communication system.
Background
The development level of the aviation and aerospace industries is an important mark of national technological capability, economic strength and national defense strength. The aviation and aerospace technology not only plays a significant role in the field of national defense, but also has important significance in civil use. The airborne laser communication servo control technology is a core technology in the fields of aerospace and navigation. The turntable servo system plays an extremely important role in the development of the hardware equipment of the airborne laser communication servo control technology. A servo control system is an automatic control system that allows the output to follow exactly a target process, typically used to control the rotation angle or displacement of a given object, and allows the controlled object to accurately represent the requirements of the input control commands. With the continuous development of the control theory, scholars at home and abroad propose various advanced control strategies aiming at the problems of uncertain system parameters and the like. Against the background of the above applications, the traditional control strategy cannot meet the requirements, and the compound tracking control strategy gradually causes a research enthusiasm. For other technologies, the method has the characteristics of high robustness, strong anti-interference capability, small tracking error and quick response time, and is suitable for target detection, tracking and communication between the photoelectric pod of the aerial unmanned aerial vehicle and the ground servo turntable.
The composite tracking control strategy is composed of a near infrared detector, a medium wave infrared detector and a four-quadrant detector, wherein the medium wave infrared detector is used for primary tracking to realize coarse capture tracking of a target; the secondary tracking uses a near infrared detector to realize the precise tracking of the target; the three-stage tracking uses a four-quadrant detector to realize the combination of tracking and communication. The jitter of a servo system during target switching is reduced, and the tracking precision is improved.
Compared with the traditional control strategy, the compound tracking control strategy also needs to meet the following change requirements:
(1) the target is ensured to enter a near infrared tracking view field (2.75 degrees multiplied by 2.2 degrees), and the coarse tracking precision must not be more than 1mrad (1 sigma) after the medium wave infrared branch is stably tracked.
(2) The received communication signal light is ensured to enter a communication receiving field of view of 2.7mrad, and the tracking precision of the near infrared detection branch circuit is not more than 0.5mrad (1 sigma).
(3) The 2.7mrad four-quadrant communication receiving field of view ensures the tracking accuracy output of 0.3 mrad.
A tracking system based on a single detector composite axis is designed in a space laser communication composite tracking technology research published by Wangweis in a laser and infrared journal, the principle and key technology of the tracking system are explained, a method of compensating the fine tracking deflection amount by matching coarse tracking is adopted, the problem of coupling is solved, a CCD tracking camera and the fine tracking system are adopted to form a closed-loop working mode, the target tracking is realized, but the target tracking is easily interfered by the outside, the robustness is poor, and the tracking precision is not high enough.
Therefore, at present, a high-precision tracking control method for image and communication in an airborne laser communication system needs to be designed to solve the above problems.
Disclosure of Invention
The invention aims to provide an image and communication composite high-precision tracking control method in an airborne laser communication system, which is used for solving the technical problems in the prior art, such as: the method is easy to be interfered by the outside, the robustness is poor, and the tracking precision is not high enough.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the invention provides a high-precision tracking control method for compounding images and communication in an airborne laser communication system. The process is as follows:
(1) after a ground target enters an airborne photoelectric pod medium wave infrared detection tracking field of view, the airborne photoelectric pod performs target image extraction and identification on the ground target image; the airborne photoelectric pod carries out image tracking on the identified ground target image, 1550nm communication emission light is started after tracking is finished, 1064nm indication laser primary tracking is carried out to realize coarse capture tracking of the target (the image tracking precision is less than or equal to 1 mrad);
(2) the ground near infrared/laser detection unit receives 1550nm light and tracks target images/light spots; after the tracking is finished, the ground servo turntable starts 1550nm communication emission light and 1064nm indication laser; the near infrared/laser detection unit of the airborne photoelectric pod tracks images/light spots of a ground target, and the secondary tracking realizes the precise tracking of the target (the tracking precision is less than or equal to 0.5mrad) (100 Hz);
(3) and the four image limit detectors of the two platforms carry out third-level tracking to realize the combination of tracking and communication (the tracking precision is less than or equal to 0.3mrad, and the communication rate is 1 Mbps).
Through the work of the composite tracking control strategy, the anti-interference capability of the system can be improved, and the target phase tracking with high speed and high precision is realized.
The invention provides an image and communication composite high-precision tracking control system in an airborne laser communication system, which comprises a signal processing and servo control panel, a motor drive device, an azimuth encoder, an azimuth motor, a pitching encoder, an upper computer, a medium wave infrared stepping motor, a medium wave infrared photoelectric switch, a medium wave infrared detector, a near infrared photoelectric switch, a near infrared stepping motor, a four-quadrant detector, an image processing panel (1 is selected from 2), a complete machine power supply device, a 1550nm communication laser, an EDFA (optical amplifier), a 1064nm laser and other devices.
The medium wave infrared stepping motor, the medium wave infrared photoelectric switch, the medium wave infrared detector, the near infrared photoelectric switch, the near infrared stepping motor and the image processing board (1 is selected from 2) form a photoelectric detection unit.
The whole machine supplies power to the photoelectric detection unit to provide voltage, the near infrared photoelectric switch or the medium wave infrared photoelectric switch transmits the zero position of the stepping motor to the signal processing and servo control panel through the IO port, the signal processing and servo control panel controls the near infrared stepping motor or the medium wave infrared stepping motor to execute, the focal length of the near infrared detector or the medium wave infrared detector is adjusted, and then the image processing panel directly tracks the calculated miss distance through the RS422 to the signal processing and servo control. The signal processing and servo control controls the state switching of the image processing board (1 in 2) through the RS422, such as whether the image target or the facula target is an image target or whether the image target or the facula target is a near infrared detector or a medium wave infrared detector, and the signal processing and servo control sets the camera parameters of the detector through the RS 422.
A four-quadrant communication detector mainly comprises a QAPD detection unit and a communication and position resolving unit. The voltage supplied by the whole machine is 12V, two 422 serial ports are arranged in the whole machine, one serial port is communicated with a main control board on the machine, and the whole machine is mainly reserved for users to use; the other one is communicated with a coarse servo control board through an RS422 to perform third-level tracking on a servo, the output is connected with a 1550nm communication laser through an SMA data wire, and a signal to be modulated can be loaded on the 1550nm communication laser.
The pitch execution unit consists of a pitch encoder and a pitch motor, the voltage supplied to the pitch encoder by the whole machine is 5V, and the voltage supplied to the pitch motor is 24V. The pitching encoder sends the position information to signal processing and servo control; then, signal processing and servo control send out an instruction to the pitching motor to control the pitching motor to execute; and if the signal processing and servo control acquire signals of upper and lower limit, the pitching motor is controlled to be demagnetized, and the power supply of the upper and lower limit modules is 5V.
An azimuth servo execution unit consists of an azimuth motor and an azimuth encoder; the voltage supplied to the azimuth motor by the complete machine is 24V, and the voltage supplied to the azimuth encoder is 5V. The azimuth encoder sends data to signal processing and servo control, which then controls the azimuth motor to perform.
The 1550nm communication laser and the EDFA (optical amplifier) form a communication transmitting unit; the voltage supplied by the whole machine power supply to the 1550nm communication laser is 5V, and the voltage supplied to the EDFA is 12V.
The laser lighting unit adopts a 1064nm laser; the voltage supplied by the complete machine power supply to the 1064nm laser is 24V, which is in communication with signal processing and servo control. The signal processing and the servo control transmit a synchronous signal to the 1550nm communication laser and the near-infrared detector respectively, and when laser is emitted, the near-infrared detector is ensured to be capable of imaging.
Signal processing and servo control board: the servo control system mainly collects current signals, encoder signals and image miss distance signals of a motor, analyzes and calculates various information, adopts a corresponding control algorithm to realize servo control of current loop servo, speed loop servo and tracking loop servo, and is an analysis and processing center of various signals.
Driving a motor: for driving the azimuth motor and the pitch motor.
An azimuth encoder: the angle (position) of rotation of the azimuth motor is fed back.
An azimuth motor: and controlling the servo turntable to execute the corresponding azimuth position.
A pitching motor: and controlling the servo rotary table to execute the corresponding pitching position.
A pitch encoder: the angle (position) of rotation of the pitch motor is fed back.
An upper computer: and sending command/parameter/synchronous signals to the signal processing and servo control board, and receiving the state and data information of the signal processing and servo control board.
Medium wave infrared step motor: and adjusting the focal length of the medium wave infrared detector.
Medium wave infrared photoelectric switch: and transmitting the zero position of the stepping motor to a signal processing and servo control board through an IO port.
A medium wave infrared detector: the received infrared radiation image is converted into an electrical signal, and the array signal is processed and read out. And finishing the photoelectric conversion function of the infrared signals.
A near-infrared detector: the received infrared radiation image is converted into an electrical signal, and the array signal is processed and read out. And finishing the photoelectric conversion function of the infrared signals.
Near infrared photoelectric switch: and transmitting the zero position of the stepping motor to a signal processing and servo control board through an IO port.
Near-infrared step motor: and adjusting the focal length of the near infrared detector.
A four-quadrant detector: and the tracking and communication dual functions are taken into consideration, and the tracking and communication composite function among the photoelectric hanging cabins is completed.
Image processing plate: the calculated miss distance is directly tracked through RS422 to signal processing and servo control.
The whole machine supplies power: all devices are powered.
1550nm communication laser: and starting 1550nm communication laser.
EDFA (optical amplifier): the power of 1550nm communication laser is increased.
1064nm laser: the 1064nm laser was turned on.
Compared with the prior art, the invention has the beneficial effects that:
one innovation point of the scheme is that (1) the tracking precision of the system is improved; (2) meanwhile, the response time is improved; (3) the four image limit detectors are adopted for tracking and communication, and the combination of tracking and communication is realized.
Drawings
Fig. 1 is a schematic flow chart illustrating steps of a method according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a system according to an embodiment of the present application.
The system comprises a signal processing and servo control board 1, a motor drive 2, an azimuth encoder 3, an azimuth motor 4, a pitching motor 5, a pitching encoder 6, an upper computer 7, a medium wave infrared stepping motor 8, a medium wave infrared photoelectric switch 9, a medium wave infrared detector 10, a near infrared detector 11, a near infrared photoelectric switch 12, a near infrared stepping motor 13, a four-quadrant detector 14, an image processing board (2-to-1 conversion) 15, a complete machine power supply 16, a 1550nm communication laser 17, an EDFA (optical amplifier) 18 and a 1064nm laser 19.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to fig. 1 to 2 of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
as shown in fig. 1, a high-precision tracking control method combining image and communication in an onboard laser communication system is proposed.
The implementation case is as follows: the two parties carry out primary alignment to the target under the guidance of radar or GPS (the pointing error is less than or equal to 1 degree); after a ground target enters an airborne photoelectric pod medium wave infrared detection tracking field of view, an onboard main control board controls the state of an image processing board to be switched to an image target tracking and medium wave infrared detection mode through RS422 communication, a medium wave infrared photoelectric switch transmits the zero position of a stepping motor to the onboard main control board through an IO port, the onboard main control board controls the medium wave infrared stepping motor to execute, the focal length of a medium wave infrared detector is adjusted, the image of the ground target object is extracted and identified, then the calculated miss distance is directly transmitted to a coarse servo control board through 3 RS422 data wires through the image processing board to be subjected to primary tracking, and the onboard main control board sets camera parameters of the medium wave infrared detector through RS 422. The image processing board transmits the image or light spot information to the image compression board through the PAL line, then the image or light spot information is converted into a net mouth through the image compression board and is transmitted to the routing board, and finally the image or light spot information is transmitted to the image transmission board; the under-machine main control board transmits some information to 232/422 network through RS422, then converts to network port, transmits to the routing board, and finally transmits data to the graph through the network. After the tracking is finished, 1550nm communication emission light and 1064nm indication laser are started on the airborne photoelectric pod, the ground near-infrared detection unit receives the 1550nm light, and the airborne photoelectric pod is subjected to target light spot tracking; after the tracking is finished, the ground servo turntable starts 1550nm communication emission light and 1064nm indication laser. After a near-infrared detection unit of the airborne photoelectric pod receives 1550nm light, light spot tracking is carried out on a ground target, and secondary tracking is carried out at the stage, so that precise tracking of a target object is realized. The four-quadrant communication detection unit mainly comprises a QAPD detection unit and a communication and position resolving unit. The voltage supplied by the on-board power supply board is 12V, two 422 serial ports are arranged in the on-board power supply board, one serial port is communicated with the on-board main control board, and the on-board power supply board is mainly reserved for users to use; the other is communicated with the coarse servo control board through 422 to carry out third-level tracking on the servo; the output is connected with a 1550nm communication laser through an SMA data wire, and a signal to be modulated can be loaded on the laser.
As shown in fig. 2, a high-precision tracking control system combining image and communication in an onboard laser communication system is proposed.
The size of the selected four-quadrant detector is 1.5mm, the aperture of a receiving system is 50mm, the focal length of a lens is 550mm, the field of view of the lens is 2.7mrad, and the communication wavelength is 1550 nm; the detector selected by the near-infrared detection unit is a visible light/near-infrared composite detector, the specification of the detector is 640 x 512, the pixel size is 15 micrometers, and the detection wavelength range is 0.9-1.7 micrometers; the television imaging unit tracks the target, and the pixel number of the target on the phase surface is at least 20 × 20; the specification of a detector selected by the medium wave infrared system is 320 × 256, the pixel size is 30 micrometers, and the detection wavelength range is 3-5 micrometers; for the refrigeration detector, the television imaging unit tracks the target, and the number of pixels occupied by the target on the phase surface is at least 20 x 20. The two parties carry out primary alignment to the target under the guidance of radar or GPS (the pointing error is less than or equal to 1 degree); after a ground target enters an airborne photoelectric pod medium wave infrared detection tracking field of view, an onboard main control board controls the state of an image processing board to be switched to an image target tracking and medium wave infrared detection mode through RS422 communication, a medium wave infrared photoelectric switch transmits the zero position of a stepping motor to the onboard main control board through an IO port, the onboard main control board controls the medium wave infrared stepping motor to execute, the focal length of a medium wave infrared detector is adjusted, the image of the ground target object is extracted and identified, then the calculated miss distance is directly transmitted to a coarse servo control board through 3 RS422 data wires through the image processing board to be subjected to primary tracking, and the onboard main control board sets camera parameters of the medium wave infrared detector through RS 422. After the tracking is finished, 1550nm communication emission light and 1064nm indicating laser are started on the airborne photoelectric pod, the ground near-infrared detection unit receives the 1550nm light, and the airborne photoelectric pod is subjected to target light spot tracking (the tracking precision is less than or equal to 0.5mrad) (100 Hz); after the tracking is finished, the ground servo turntable starts 1550nm communication emission light and 1064nm indication laser. After a near-infrared detection unit of the airborne photoelectric pod receives 1550nm light, a master control board on the aircraft controls the state of an image processing board to be switched to a facula tracking mode and a near-infrared detection mode through RS422 communication, a near-infrared photoelectric switch transmits the zero position of a stepping motor to the master control board on the aircraft through an IO port, the master control board on the aircraft controls the near-infrared stepping motor to execute, the focal length of the near-infrared detector is adjusted, and facula tracking is carried out on a ground target, the stage is secondary tracking, and the precise tracking (the tracking precision is less than or equal to 0.5mrad) (100Hz) of a target object is realized. The four-quadrant communication detection unit mainly comprises a QAPD detection unit and a communication and position resolving unit. The on-board power supply board supplies power to the on-board power supply board, two 422 serial ports are arranged in the on-board power supply board, one serial port is communicated with the on-board main control board, and the on-board power supply board is mainly reserved for users to use; the other is communicated with the coarse servo control board through 422, and the third-stage tracking is carried out on the servo to realize the combination of tracking and communication.
The image and communication composite high-precision tracking control method in the airborne laser communication system comprises the following steps:
step one, GPS guide points: the GPS information of both parties realizes the initial pointing;
step two, infrared detection and tracking: the medium wave infrared detection unit detects and roughly tracks a specific target on the ground;
step three, laser irradiation: the laser irradiation unit 1550nm/1064nm irradiates the tracking target with laser;
step four, synchronously photographing at 1064 nm: the laser irradiation unit performs 1064nm pulse laser illumination on the target, and the load near-infrared detection unit is used for tracking.
Step five, near infrared/laser detection and tracking: the near infrared/laser detection unit carries out image tracking on the combined target; simultaneously, carrying out light spot tracking on 1550nm laser emitted by a synthetic target, and finally realizing target precision tracking;
step six, tracking/communication compounding: the four-quadrant detector performs tracking/communication compounding on 1550nm laser emitted by a combined target.
The above are preferred embodiments of the present invention, and all changes made according to the technical scheme of the present invention that produce functional effects do not exceed the scope of the technical scheme of the present invention belong to the protection scope of the present invention.
Claims (6)
1. The image and communication composite high-precision tracking control method in the airborne laser communication system is characterized by comprising the following steps of:
s1: after a ground target enters an airborne photoelectric pod medium wave infrared detection tracking field of view, the airborne photoelectric pod performs target image extraction and identification on the ground target image; the airborne photoelectric pod carries out image tracking on the identified ground target image, and after the tracking is finished, communication emission light and indication laser primary tracking are started to realize the coarse capture tracking of the target;
s2: the ground near infrared/laser detection unit receives communication emission light of the airborne photoelectric pod and tracks a target image/light spot; after the tracking is finished, the ground servo turntable starts communication to emit light and indication laser; the near infrared/laser detection unit of the airborne photoelectric pod tracks images/light spots of a ground target, and secondary tracking realizes precise tracking of the target;
s3: and the four image limit detectors of the two platforms carry out third-level tracking to realize the combination of tracking and communication.
2. The method for controlling high-precision tracking of image and communication composite in the airborne laser communication system according to claim 1, wherein the communication emission lights are all 1550nm communication emission lights, and the indication lasers are all 1064nm indication lasers.
3. The method for controlling tracking of image and communication in airborne laser communication system according to claim 1, wherein the image tracking accuracy of step S1 is less than or equal to 1 mrad; the image tracking precision of the step S2 is less than or equal to 0.5 mrad; the image tracking accuracy of step S3 is less than or equal to 0.3 mrad.
4. Image and the compound high accuracy tracking control system of communication among the airborne laser communication system, its characterized in that includes: the system comprises a signal processing and servo control board, a motor drive, an azimuth encoder, an azimuth motor, a pitching encoder, an upper computer, a medium wave infrared stepping motor, a medium wave infrared photoelectric switch, a medium wave infrared detector, a near infrared photoelectric switch, a near infrared stepping motor, a four-quadrant detector, an image processing board, a complete machine power supply, a 1550nm communication laser, an EDFA and a 1064nm laser;
the system comprises a medium-wave infrared stepping motor, a medium-wave infrared photoelectric switch, a medium-wave infrared detector, a near-infrared photoelectric switch, a near-infrared stepping motor and an image processing board, wherein the medium-wave infrared stepping motor, the medium-wave infrared photoelectric switch, the medium-wave infrared detector, the near-infrared photoelectric switch, the near-infrared stepping motor and the image processing board form a photoelectric detection unit;
the whole machine supplies power to supply voltage to the photoelectric detection unit, the near infrared photoelectric switch or the medium wave infrared photoelectric switch transmits the zero position of the stepping motor to the signal processing and servo control panel through the IO port, the signal processing and servo control panel controls the near infrared stepping motor or the medium wave infrared stepping motor to execute, the focal length of the near infrared detector or the medium wave infrared detector is adjusted, and then the image processing panel directly tracks the calculated miss distance through the RS422 to the signal processing and servo control; the signal processing and servo control controls the state switching of the image processing board through the RS422, and the signal processing and servo control sets the camera parameters of the detector through the RS 422;
two 422 serial ports are arranged in the four-quadrant communication detector, one serial port is communicated with a main control board on the machine, and the four-quadrant communication detector is reserved for users to use; the other one is communicated with the coarse servo control board through RS422 to perform third-level tracking on a servo, the output is connected with a 1550nm communication laser through an SMA data wire, and a signal to be modulated is loaded on the 1550nm communication laser;
the pitching execution unit consists of a pitching encoder and a pitching motor, and the pitching encoder sends the position information to the signal processing and servo control; then, signal processing and servo control send out an instruction to the pitching motor to control the pitching motor to execute; if the signals of the upper limit and the lower limit are obtained through signal processing and servo control, the pitching motor is controlled to be demagnetized;
the azimuth encoder sends the data to signal processing and servo control, and then the signal processing and servo control azimuth motor executes;
a 1550nm communication laser and an EDFA form a communication transmitting unit;
the 1064nm laser is in communication with signal processing and servo control; and the signal processing and the servo control transmit a synchronous signal to the 1550nm communication laser and the near-infrared detector respectively, and when laser is emitted, the near-infrared detector can be ensured to be capable of imaging.
5. The combined high-precision tracking control system for image and communication in the airborne laser communication system as claimed in claim 4, wherein the signal processing and servo control board controls the state switching of the image processing board through RS422 by: and determining whether to switch the near-infrared detector or the medium-wave infrared detector according to the image target or the light spot target.
6. The composite high-precision tracking control system for image and communication in the airborne laser communication system as claimed in claim 4, wherein the four-quadrant communication detector is composed of a QAPD detection unit and a communication and position resolving unit.
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