CN115372993B - Target position information detection system and control method thereof - Google Patents
Target position information detection system and control method thereof Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
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- G—PHYSICS
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- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention belongs to a position detection control method, and provides a target position information detection system and a control method thereof, which are used for solving the technical problems that when the current 3D GISC Lidar technology is used for carrying out achievement transformation in actual application, motion blur exists and target light source energy is insufficient, target miss distance extraction is difficult, and the like, wherein a nutation scanning mirror, a double FSM consisting of a transmitting tracking mirror and a receiving tracking mirror are arranged, the position information of the nutation scanning mirror and echo signals of a barrel detector are acquired through a controller, and the working states of the transmitting tracking mirror, the nutation scanning mirror and the receiving tracking mirror are controlled, so that the problems that the 3D GISC Lidar technology is used for actual application and the achievement transformation is difficult in motion blur, detector miss distance extraction and the like can be effectively solved.
Description
Technical Field
The invention belongs to a position detection control method, and particularly relates to a target position information detection system and a control method thereof.
Background
The laser three-dimensional intensity-correlated imaging radar (3D GISC LiDAR) is based on a novel non-local laser imaging radar mechanism. Different from the traditional information acquisition mode of the 'point-to-point' mode, the laser three-dimensional intensity correlation imaging radar firstly irradiates rotating ground glass with laser to generate a speckle field, and the speckle field is divided into two paths after passing through a beam splitter: one path is a reference light path, the spatial distribution information of the speckle field intensity is recorded by means of a reference camera, the other path is an object light path, the speckle field is projected to a target scene to be detected to realize the spatial intensity coding of the target, and a barrel detector without spatial resolution is utilized to record the flight time signal of the target echo; and finally, obtaining the three-dimensional information of the target scene by calculating the second-order correlation between the reference speckle and the target time-of-flight signal. According to the working principle of the laser three-dimensional intensity correlation imaging radar, on one hand, the introduction of the spatial intensity code enables the radar to acquire high-dimensional information of a target by using a point detector, so that the requirement on a detection device is reduced, and meanwhile, the anti-interference performance of the radar in a complex channel environment is enhanced to a certain extent; on the other hand, the information acquisition mode based on second-order correlation depends on multiple sampling, so that the information acquisition mode has an inherent motion blur problem in a moving object scene.
In order to orient the 3DGISC Lidar technology to practical application and perform achievement transformation, the problem of high-resolution imaging of a high-speed moving target needs to be solved, and as 3DGISC Lidar belongs to a gaze imaging method for multiple measurement, the data acquisition time is long and real-time imaging cannot be achieved, so that the imaging resolution is reduced (namely motion blurring) due to the relative motion of the target and the system. In addition, if the energy of the target light source is insufficient, the target cannot be detected by the visible light or infrared camera, and the off-target quantity cannot be extracted by the video module.
Disclosure of Invention
The invention provides a target position information detection system and a control method thereof, which are used for solving the technical problems that when the current 3D GISC Lidar technology is oriented to practical application and the result is converted, motion blur exists and the target light source energy is insufficient, the target miss distance is difficult to extract.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
The target position information detection system comprises a laser, rotary ground glass and a first beam splitter which are sequentially arranged on an emergent light path of the laser, wherein two paths of light paths are formed through the first beam splitter, one path of light path is a reference light path, and the other path of light path is an object light path; the device is characterized by also comprising a controller and a receiving system;
The object optical path is sequentially provided with an emission tracking mirror and a collimation optical system along an optical path, and light collimated by the collimation optical system is incident to a target scene to be detected, so that the target scene to be detected emits a return signal;
The receiving system comprises a main reflecting mirror, a secondary reflecting mirror, a receiving tracking mirror, a collecting mirror, a nutation scanning mirror and a barrel detector which are sequentially arranged along a light path of a return light signal, wherein the return signal enters the main reflecting mirror, and the nutation scanning mirror is driven by piezoelectric ceramics;
The controller is respectively connected with the emission tracking mirror, the receiving tracking mirror, the nutation scanning mirror and the barrel detector, and is used for receiving echo signals generated by the barrel detector and position information of the nutation scanning mirror, obtaining off-target quantity, controlling working state of the nutation scanning mirror, and controlling positions of the emission tracking mirror and the receiving tracking mirror according to the off-target quantity.
Further, the camera also comprises a second beam splitter, a first lens and a monitoring camera;
The reflecting surface of the second beam splitter is positioned in the object light path and between the first beam splitter and the emission tracking mirror; the first lens and the monitoring camera are sequentially arranged on the transmission light path of the second beam splitter along the light path.
Further, the nutation scanning mirror has a motion amplitude of 1mrad and a frequency of 1KHz.
Further, the transmitting tracking mirror and the receiving tracking mirror are driven by voice coil motors.
The control method of the target position information detection system is characterized in that after the laser emits laser, the target position information detection system is controlled through the following steps:
s1, acquiring echo signals generated by a barrel detector and position signals of a nutation scanning mirror through a controller;
s2, controlling the nutation scanning mirror through the controller to enable starting points of given positions of an X axis and a Y axis of the nutation scanning mirror to be synchronous with echo signals;
S3, obtaining the off-target quantity according to the echo signal generated by the barrel detector and the position signal of the nutation scanning mirror;
S4, controlling the emission tracking mirror according to the off-target quantity, and controlling the receiving tracking mirror according to the position of the emission tracking mirror, so that the angle of the receiving tracking mirror and the angle of the emission tracking mirror are in a multiplying power relationship.
Further, in step S2, the motion frequency of the nutation scanning mirror is specifically 1KHz, and the nutation scanning mirror is controlled by the controller, so that the barrel detector generates 100 echo signals every nutation scanning mirror rotates one circle, and the position coordinates (X M,YM) of each echo signal corresponding to the nutation scanning mirror are:
Wherein m=0, 1,2,. The. 99, x M represents the position coordinate abscissa of the nutating scanning mirror, Y M represents the position coordinate ordinate of the nutating scanning mirror.
Further, the step 3 specifically comprises:
The off-target amount is obtained by the following formula:
Wherein m represents the number of echo signal sequences corresponding to the maximum value of the energy of the echo signal when the nutation scanning mirror rotates every nutation circle: r represents the absolute distance between the detected nutation circle center and the target point, x represents the abscissa component of the off-target quantity, and y represents the ordinate component of the off-target quantity.
Further, in step S3, the R is obtained by:
normalizing the energy E of each echo signal by the following formula to obtain a corresponding normalized result E':
Wherein E max represents the maximum value of the energy of the echo signal for each nutation of the nutation scanning mirror;
solving for R by:
further, in step S3, the E max is determined by:
If the number of the echo signals corresponding to the echo signal energy maximum value is equal to 1, directly determining the echo signal energy maximum value;
If the number of echo signals corresponding to the maximum value of the echo signal energy is larger than 1, arranging the echo signals corresponding to all the maximum values of the echo signal energy in sequence to obtain an echo signal sequence; judging whether or not to meet And/>Is an integer, if so, take the/>The echo signals are used as echo signals corresponding to the echo signal energy maximum E max, otherwise, the first echo signal is takenThe echo signals are used as echo signals corresponding to the echo signal energy maximum value E max; wherein L is the number of the first echo signal in the echo signal sequence among 100 echo signals, n is the number of the last echo signal in the echo signal sequence among 100 echo signals, and C is the total number of echo signals in the echo signal sequence.
Compared with the prior art, the invention has the following beneficial effects:
1. The invention provides a target position information detection system, which is provided with a nutation scanning mirror, a double FSM consisting of an emission tracking mirror and a receiving tracking mirror, and the controller is used for collecting the position information of the nutation scanning mirror and echo signals of a barrel detector and controlling the working states of the emission tracking mirror, the nutation scanning mirror and the receiving tracking mirror, so that the problems of motion blur, difficult extraction of detector miss distance and the like in the actual application and achievement transformation of the technology of 3D GISC Lidar can be effectively solved.
2. The invention is also provided with a monitoring camera which can monitor the target scene to be detected, and in addition, when the distance of the target scene to be detected is relatively close, the target scene to be detected can be imaged through the monitoring camera.
3. According to the invention, the transmitting tracking mirror and the receiving tracking mirror are driven by the voice coil motor, so that the precision is higher, the stroke amount is large and the response speed is high.
4. The control method of the target position information detection system provided by the invention can be used for detecting and controlling a target scene to be detected with a long distance or low energy, calculating the off-target amount according to the position signal of the nutation scanning mirror and the echo signal of the barrel detector, and controlling the emission tracking mirror according to the off-target amount, so that the control of the detection system is realized, and the detection capability of 3D GISC Lidar on a long-distance high-speed target is greatly improved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a target location information detection system according to the present invention;
FIG. 2 is a schematic diagram of the calculation principle of the off-target amount when the maximum energy point of the echo signal is unique in one circle of nutation of the nutation scanning mirror in the embodiment of the invention.
Wherein: 1-laser, 2-rotating frosted glass, 3-first beam splitter, 4-emission tracking mirror, 5-collimation optical system, 6-controller, 7-receiving system, 701-main mirror, 702-receiving tracking mirror, 703-condenser, 704-nutation scanning mirror, 705-barrel detector, 8-second beam splitter, 9-first lens, 10-surveillance camera, 11-first mirror, 12-second mirror, 13-reference mirror, 14-second lens, 15-third mirror, 16-third lens, 17-fourth mirror, 18-object scene under test, 19-secondary mirror, 20-fifth mirror, 21-reference camera.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Aiming at the requirements of high-resolution imaging on high precision, quick response and interference resistance of a tracking control system. If the energy of the target light source is insufficient, the target light source cannot be detected by a visible light or infrared camera, and the off-target quantity cannot be extracted by a video module. Aiming at the situation, the invention combines the composite axis tracking control system with the echo signal of 3D GISC Lidar, and researches the high-precision tracking imaging based on the mode of scanning and detecting the target position information by the nutation galvanometer. The method is characterized in that an echo signal obtained by high-frequency scanning of a nutation galvanometer is used as a modulation signal, the off-target quantity in the process of tracking a target by a composite shaft is obtained according to the change of the output power of a photoelectric detector (PIN tube), a fine tracking FSM is controlled in real time to track, and finally high-precision composite shaft tracking closed-loop control combined with the echo signal of 3DGISC Lidar is realized.
As shown in fig. 1, the invention provides a target position information detection system, which comprises a laser 1, a rotary frosted glass 2, a first reflecting mirror 11 and a first beam splitter 3 which are sequentially arranged along an optical path, wherein laser emitted by the laser 1 irradiates the rotary frosted glass 2 to generate a speckle field, the speckle field enters the first beam splitter 3 after passing through the first reflecting mirror 11, transmitted light forms a reference optical path, is collected by a reference camera 21 after passing through a second reflecting mirror 12 and a reference mirror 13, enters a second beam splitter 8 after passing through a second lens 14 and a third reflecting mirror 15, passes through an emission tracking mirror 4 after being reflected by the second beam splitter 8, and irradiates a target scene 18 to be detected after passing through a third lens 16, a fourth reflecting mirror 17 and a collimating optical system 5. The object scene 18 to be measured is irradiated and then returns a signal to enter the receiving system.
The receiving system 7 includes a main mirror 701, a receiving tracking mirror 702, a collection mirror 703, a nutating scanning mirror 704, and a barrel detector 705. The signal returned by the object scene 18 is input to the main reflector 701 and the secondary reflector 19, the light path field is compressed by the main reflector 701, then parallel light is output, the parallel light sequentially passes through the receiving tracking mirror 702, the fifth reflector 20, the collecting mirror 703 and the nutating scanning mirror 704 and then enters the barrel detector 705, the barrel detector 705 can generate echo signals, and the barrel detector 705 can adopt a photon multiplier tube.
The detection system is also provided with a controller 6 that can collect position information of the nutating scanning mirror 704 and echo signals of the barrel detector 705, and can also control the emission tracking mirror 4, the nutating scanning mirror 704, and the receiving tracking mirror 702 according to the off-target amount.
The specific control method is to carry out scanning position track planning based on the nutation scanning mirror 704, firstly analyze the relation between the scanning frequency of the nutation scanning mirror 704 and the target dithering frequency and the influence factors of the accuracy of the off-target quantity, obtain the nutation frequency, the nutation amplitude and the sampling point number of the echo signals required in the nutation period, and finally obtain the calculation flow of the off-target quantity through the theory of modeling the algorithm. The X-axis of nutating scanning mirror 704 inputs a sine signal with amplitude A and frequency f, and the Y-axis of nutating scanning mirror 704 inputs a cosine signal with amplitude A and frequency f. Thus, nutating the scanning mirror 704 using a piezoceramic driven FSM will follow a circular motion of amplitude 1mrad, frequency 1K. The nutating scanning mirror 704 is driven with piezoceramics in view of frequency and amplitude requirements. The starting points of the given positions of the X axis and the Y axis of the nutation scanning mirror 704 and the echo signals of 3D GISC Lidar adopt a synchronous mode, and the extraction frequency of the echo signals is 100KHz, so that 100 echo signal energies can be sequentially obtained for each nutation, the energy is recorded as E 0-E99, and the corresponding position of each echo signal point is shown as follows;
m has a value of 0,1,2 … and 99, and represents the subscript of 100 echo signal energies E 0-E99.
The following m represents the number of echo signal sequences corresponding to the maximum value of the echo signal energy per nutation of the nutation scanning mirror 704: as in fig. 2, the following judgment is made on m/100, wherein a in fig. 2 represents the center of the first quadrant trajectory:
1)0＜m/100＜1/4
At this time, the nutating dot is in the third quadrant relative to the target dot:
x represents the lateral component of the off-target amount and y represents the longitudinal component of the off-target amount.
2)1/4＜m/100≤1/2
At this time, the nutating dot is in the fourth quadrant relative to the target dot
3)1/2＜m/100≤3/4
At this time, the nutating dot is in the first quadrant relative to the target dot
4)3/4＜m/100≤1
At this time, the nutating dot is in the second quadrant relative to the target dot
And R represents the absolute distance between the detected nutation center and the target point. Since the echo signal energy is a monotonically decreasing function with static angular deviation and random jitter, the offset distance R can be calculated by detecting the average value of the echo signal energy values 100 times per cycle. And then the target-off amount is calculated by taking the target-off amount into the formula.
In summary, no matter what quadrant the nutation circle center is, the off-target coordinate of the circle center position can be calculated by adopting the following formula:
(1) If the maximum energy point of the echo signal is unique, m can be directly determined;
(2) If the maximum energy point of the echo signal is not unique
The assumed echo signal energy maximum point includes: e L……En (L..n < 100), the total number of echo signal energy maximum points is C.
If: and/> Is a positive integer, get/>As the maximum point of the echo signal energy.
Otherwise: get the firstPoints, i.e./>For the maximum energy point of the echo signal, the corresponding m is equal to/>L is the number of sequences of the first echo signal in the echo signal sequence in 100 echo signals, and n is the number of sequences of the last echo signal in the echo signal sequence in 100 echo signals.
The method for obtaining the R value is as follows:
Because the size of the echo energy E and the R value show a normal distribution relation, firstly, when the target is in the center of coordinates, the echo energy E is normalized:
Thus, it is possible to define Where μ=0, σ=1, which is a standard calculation formula of normal distribution.
The R value can be obtained by the two formulas.
In addition, a monitoring light path is further arranged in the detection system, if the distance between the target scene 18 to be detected is relatively short, the target scene 18 to be detected is irradiated, transmitted through the second beam splitter 8 after passing through the collimating optical system 5, the fourth reflecting mirror 17 and the third lens 16, and then collected through the first lens 9 by the monitoring camera 10. The target scene 18 to be measured may also be monitored while the detection system is detecting.
The mirrors in the above embodiments are related to the setting positions of the system in the above embodiments, and are set by the system layout, and in other embodiments of the present invention, the number and specific positions of the mirrors may be adjusted according to actual needs.
The ability of the oscillating mirror to respond quickly due to its precise positioning occupies an increasingly important position in the field of space science and communication, and is one of the current tip technologies. The swinging Mirror is used as a fine tracking executing mechanism and is a high-speed Mirror deflection mechanism, also called a quick reflector (FAST STEERING Mirror, FSM), and mainly comprises a piezoelectric ceramic driving mechanism and a voice coil motor driving mechanism. The piezoelectric ceramic driven fast reflecting mirror has the advantages of high precision, fast response speed and the like, but the driving stroke is only tens of micrometers, and the voice coil motor driven fast reflecting mirror has the advantages of high precision, large stroke amount, fast response speed, small driving voltage and the like, and is widely used for large-amplitude beam jitter suppression, and the output precision thereof determines the control precision of a beam jitter system. Thus, both the transmit tracking mirror 4 and the receive tracking mirror 702 are driven by voice coil motors and the nutating scanning mirror 704 is driven by piezoelectric ceramics in the present invention.
The present invention proposes a scheme of a moving target laser three-dimensional correlated imaging radar system based on a nutating scanning mirror 704 and a dual FSM tracking mode. The system consists of a transmitting part and a receiving part. The associated imaging radar device adopts the working wavelength of 1064nm, and the associated imaging radar device is incident on the emission FSM in the form of parallel light to realize optical path coupling. Limited by the effective area of the FSM, both transmit and receive employ a beam-expanding collimation design to meet imaging resolution/detection signal-to-noise ratio requirements, respectively. Specifically: in the transmission, solid pulse laser (with a central wavelength of l=1064 nm, a pulse width of 10ns and a repetition frequency of 2 kHz) irradiates the rotary ground glass 2 to form a speckle field, the speckle field is divided into two paths after passing through the first beam splitter 3, one path is recorded by a local reference camera 21, the other path irradiates a target scene 18 to be measured through a beam expansion collimation system after passing through the emission tracking mirror 4, and meanwhile, an active tracking module assembled through a good optical path images a target area by means of the beam expansion collimation system and the emission FSM. The active tracking module adopts a method of detecting target position information by combining the nutation scanning mirror 704 with a 3DGISCLIDAR echo signal, obtains off-target quantity through coordinate transformation, and is injected into the controller for stable target tracking. And then realizing laser three-dimensional association real-time imaging through nutation scanning mirror and double FSM tracking.
For the receiving part, the echo signal from the target scene 18 to be measured is collected by the card-type receiving collimator lens (the primary mirror 701 and the secondary mirror 19) and finally irradiated on the barrel detector 705 (PMT) through the receiving tracking lens 702 and the nutating scanning lens 704, wherein the deflection angle of the receiving tracking lens 702 can be calculated by the transmitting tracking lens 4 of the transmitting part and the active tracking module of the controller 6 according to the optical magnification ratio, and the given target angle of the receiving tracking lens 702 and the calculated target angle of the transmitting tracking lens 4 are related, and the proportionality coefficient and the optical path are set to be twice as a preferable scheme in the embodiment. The target off-target amount is obtained by a control algorithm that the real-time position of the nutating scanning mirror 704 corresponds to the real-time energy of the echo signal after the condensing mirror 703 performs 1KHz circular scanning by using the nutating scanning mirror 704 and then emits the target off-target amount to the PMT. Finally, stable tracking and laser three-dimensional associated imaging of the moving target are realized through the cooperative matching of the transmitting tracking mirror 4 and the receiving tracking mirror 702. The stability of tracking determines the resolution of the laser three-dimensional correlated imaging.
Since 3D GISC Lidar belongs to a gaze imaging method of multiple measurements, the data acquisition time is long and real-time imaging cannot be achieved. The invention aims at the defects of weak anti-interference capability, high requirement on target energy characteristics and the like of the existing position detector. The method for detecting the target position information by combining the nutation galvanometer with the 3DGISCLIDAR echo signals solves the problem that the 3D GISC Lidar technology is applied to practical application and needs to mainly solve the target resolution imaging problem of long-distance high-speed movement in the process of transforming results. The method can improve the tracking precision and simultaneously reduce the motion blur problem of 3D GISC Lidar imaging. The nutation scanning frequency and the sampling frequency in the invention can be adaptively adjusted. The size of the aperture of nutating scanning mirror 704 or the direction of scanning the circular track may also be varied as appropriate.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A target position information detection system comprises a laser (1), rotary ground glass (2) and a first beam splitter (3) which are sequentially arranged on an emergent light path of the laser (1), wherein two paths of light paths are formed by the light splitting of the first beam splitter (3), one path of light paths is a reference light path, and the other path of light paths is an object light path; the method is characterized in that: the device also comprises a controller (6), a receiving system (7), a second beam splitter (8), a first lens (9) and a monitoring camera (10);
The object optical path is sequentially provided with an emission tracking mirror (4) and a collimation optical system (5) along an optical path, and light collimated by the collimation optical system (5) is incident to a target scene (18) to be detected, so that the target scene (18) to be detected emits a return light signal;
The receiving system (7) comprises a main reflector (701), a secondary reflector (19), a receiving tracking mirror (702), a collecting mirror (703), a nutation scanning mirror (704) and a barrel detector (705) which are sequentially arranged along the optical path of a return light signal, wherein the return light signal enters the main reflector (701), and the nutation scanning mirror (704) is driven by piezoelectric ceramics;
The controller (6) is respectively connected with the emission tracking mirror (4), the receiving tracking mirror (702), the nutation scanning mirror (704) and the barrel detector (705), and is used for receiving echo signals generated by the barrel detector (705) and position information of the nutation scanning mirror (704), obtaining off-target quantity, controlling the working state of the nutation scanning mirror (704) and controlling the positions of the emission tracking mirror (4) and the receiving tracking mirror (702) according to the off-target quantity;
The reflecting surface of the second beam splitter (8) is positioned in the object light path and between the first beam splitter (3) and the emission tracking mirror (4); a first lens (9) and a monitoring camera (10) are sequentially arranged on a transmission light path of the second beam splitter (8).
2. A target location information detection system according to claim 1, wherein: the nutating scanning mirror (704) has a motion amplitude of 1mrad and a frequency of 1KHz.
3. A target location information detection system according to claim 2, wherein: the transmitting tracking mirror (4) and the receiving tracking mirror (702) are driven by voice coil motors.
4. A control method of a target position information detection system according to any one of claims 1 to 3, characterized in that the target position information detection system is controlled by the following steps after the laser (1) emits the laser light:
S1, acquiring echo signals generated by a barrel detector (705) and position signals of a nutation scanning mirror (704) through a controller (6);
S2, controlling the nutation scanning mirror (704) through the controller (6) to enable starting points of given positions of the X axis and the Y axis of the nutation scanning mirror (704) to be synchronous with echo signals, wherein the method specifically comprises the following steps:
the motion frequency of the nutation scanning mirror (704) is 1KHz, the nutation scanning mirror (704) is controlled by the controller (6), so that the barrel detector (705) generates 100 echo signals every nutation scanning mirror (704) generates a circle, and the position coordinates (X M,YM) of each echo signal corresponding to the nutation scanning mirror (704) are as follows:
Wherein m=0, 1,2,. The. 99, x M represents the position coordinate abscissa of the nutating scanning mirror (704), Y M represents the ordinate of the position coordinates of the nutating scanning mirror (704);
s3, obtaining off-target quantity according to an echo signal generated by the barrel detector (705) and a position signal of the nutation scanning mirror (704);
S4, controlling the emission tracking mirror (4) according to the off-target quantity, and controlling the receiving tracking mirror (702) according to the position of the emission tracking mirror (4), so that the angle of the receiving tracking mirror (702) and the angle of the emission tracking mirror (4) are in a multiplying power relation.
5. The control method of a target position information detecting system according to claim 4, wherein: the step 3 is specifically as follows:
The off-target amount is obtained by the following formula:
Wherein m represents the number of echo signal sequences corresponding to the maximum value of the energy of the echo signal per nutation of the nutation scanning mirror (704): r represents the absolute distance between the detected nutation circle center and the target point, x represents the abscissa component of the off-target quantity, and y represents the ordinate component of the off-target quantity.
6. The control method of a target position information detecting system according to claim 5, wherein: in step S3, the R is obtained by:
normalizing the energy E of each echo signal by the following formula to obtain a corresponding normalized result E':
Wherein E max represents the maximum energy of the echo signal per nutation of the nutating scanning mirror (704);
solving for R by:
7. The control method of a target position information detecting system according to claim 6, wherein: in step S3, the E max is determined by:
If the number of the echo signals corresponding to the echo signal energy maximum value is equal to 1, directly determining the echo signal energy maximum value;
If the number of echo signals corresponding to the maximum value of the echo signal energy is larger than 1, arranging the echo signals corresponding to all the maximum values of the echo signal energy in sequence to obtain an echo signal sequence; judging whether or not to meet And/>Is an integer, if so, take the/>The echo signals are used as echo signals corresponding to the echo signal energy maximum E max, otherwise, the first echo signal is takenThe echo signals are used as echo signals corresponding to the echo signal energy maximum value E max; wherein L is the number of the first echo signal in the echo signal sequence among 100 echo signals, n is the number of the last echo signal in the echo signal sequence among 100 echo signals, and C is the total number of echo signals in the echo signal sequence.
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