CN115473578A - Communication, range finding and location integrated device based on four-quadrant detector - Google Patents

Abstract

The present invention specifically relates to a communication, ranging and positioning integrated device based on a four-quadrant detector, including a first optical transceiver and a second optical transceiver, the first optical transceiver and the second optical transceiver are placed in the atmospheric channel, and maintain the link No shielding; the first optical transceiver and the second optical transceiver have the same structure, and both include modulators, lasers, optical power amplifiers, four-quadrant detectors, signal light modulation and demodulation measurement and control boards, and optical systems; the first optical transceiver and the second optical transceiver The optical transceiver receives the optical signal sent by the other party and the signal light emitted by itself and meets the signal light reflected by the other party. After receiving the optical signal, the first optical transceiver and the second optical transceiver modulate and demodulate the received signal light through their respective signal light modulation and demodulation measurement and control boards. The calculation is performed to obtain a calculation result, and the calculation result is the received communication information and the position and orientation. The device and method used in the present invention are relatively simple, and realize the integration of communication, distance measurement and positioning without increasing the complexity of the device.

Description

A device integrating communication, ranging and positioning based on four-quadrant detector

technical field

The invention relates to the technical field of space laser communication and laser radar positioning, in particular to a device integrating communication, ranging and positioning based on a four-quadrant detector.

Background technique

Bandwidth and capacity requirements have increased dramatically in recent years with the increasing use of high-speed Internet, video conferencing, live streaming, and more. The growing demand for data and multimedia services has led to congestion in the traditionally used radio frequency (RF) spectrum. Optical carriers do not require any spectrum licenses, high bandwidth and large capacity, etc., making space laser communication more and more popular. Lidar can quickly and accurately obtain the depth information of the environment, has strong anti-interference ability, and is less affected by environmental changes, high resolution, and low cost. It has been widely used in many fields in recent years. The present invention adopts a four-quadrant detector (QD) as the receiving device, and the four-quadrant detector is a photodetector device formed by arranging four photodiodes with identical performances according to the requirements of rectangular coordinates, and can convert the received optical power into a position Compared with other position detection devices, it has the advantages of fast response speed, simple data processing, high position resolution and high measurement accuracy. In space laser communication, the received laser signal is restored to the original signal according to the received power, and the position information is calculated according to the output of the four quadrants.

If the laser radar device only includes beam scanning and ranging functions, when multiple laser radar devices work in the same scene, the laser echo signals emitted by the radar will interfere with each other, so each laser radar device should have its own identification address ( IP), so that the lidar can receive and identify the echo of the transmitted signal without interference, and achieve accurate ranging. In addition, with the development of the Internet of Things, the wide application of smart homes and smart robots, the communication function between different laser radar devices has become very important, and in many complex communication scenarios, the functions of laser communication terminals are not limited. For real-time communication, it is also necessary to determine the position of the communication device. For example, in the fields of military, aerospace, UAV cooperation and other fields, the traditional single-receiver communication mode can no longer meet the application requirements. Therefore, how to realize the integration of communication, ranging and positioning is a difficult problem.

Contents of the invention

Therefore, the technical problem to be solved by the present invention is to solve the defect that there is no integrated solution for communication, ranging and positioning at present, so as to provide a device for integrating communication, ranging and positioning based on a four-quadrant detector.

An integrated communication, ranging and positioning device based on a four-quadrant detector, including a first optical transceiver and a second optical transceiver, the first optical transceiver and the second optical transceiver are placed in the atmospheric channel, and the link is kept unobstructed;

The first optical transceiver and the second optical transceiver have the same structure, and both include a modulator, a laser, an optical power amplifier, a four-quadrant detector, a signal light modulation and demodulation measurement and control board, and an optical system;

The first optical transceiver and the second optical transceiver receive the optical signal sent by the other party. After the first optical transceiver and the second optical transceiver receive the optical signal, they solve the received optical signal through their respective signal optical modulation and demodulation measurement and control boards to obtain the solution. As a result, the result of the resolution is the received transmission and position and orientation.

An integrated communication, ranging and positioning method based on the above-mentioned four-quadrant detector-based integrated communication, ranging and positioning device, comprising the following steps:

S1: Place the first optical transceiver and the second optical transceiver in the air channel, and supply power to the device;

S2: Turn on the data input, perform a modulo-two operation on the input data and the pseudo-random code as the transmission data, load the transmission data on the laser through the modulator in the first optical transceiver, and the laser realizes the conversion from the electrical signal to the optical signal through external modulation;

S3: The optical signal converted by the laser in the first optical transceiver is amplified by the optical power amplifier and sent into space through the optical system;

S4: After the second optical transceiver receives the optical signal sent by the first optical transceiver, it is collected on the four-quadrant detector of the second optical transceiver through the optical system in the second optical transceiver;

S5: The four-quadrant detector of the second optical transceiver outputs the optical signal received by the first optical transceiver and the optical signal emitted by itself and reflected by the other party as electrical signals, and outputs the electrical signals to the signal optical modulation and demodulation control board On the above, the signal light modulation and demodulation measurement and control board performs correlation calculations on the generated electrical signals, and respectively calculates the distance and orientation of the first optical transceiver relative to the second optical transceiver and the information sent by the first optical transceiver;

Similarly, the first optical transceiver receives the optical signal of the second optical transceiver, and calculates the distance and orientation of the second optical transceiver relative to the first optical transceiver and the information sent by the second optical transceiver through the signal optical modulation and demodulation measurement and control board in the second optical transceiver .

Further, the signal light modulation and demodulation measurement and control board solves the received signal through an algorithm, specifically:

Through different functions of ranging and communication, multiple groups of different types of PN codes are selected, and different types of PN codes are used as device address identifiers. In the communication function, the same pseudo-random code as that of the communication terminal is used;

Through the adjustment of the digital oscillator in the frequency word, the selected PN code generates three sets of pseudo-random codes with different phases, which are the phase-leading PN1 code, the phase-current PN2 code and the phase-lag PN3 code;

Add the currents A, B, C and D output by the four-quadrant detector to obtain the total current value generated by the optical power and perform correlation operations with the phase leading PN1 code, phase current PN2 code and phase lagging PN3, and the current code correlator The output value is compared with the threshold value to capture the phase of the received optical signal, and the output value of the advanced code correlator is compared with the output value of the delayed code correlator to track the phase of the received optical signal, and the dynamic phase tracking of the input signal light can be completed. According to the current code The communication information is demodulated by the integral output value of the correlator, and the output currents A, B, C, and D of the four-quadrant detector are correlated with the current code through the correlator P1, correlator P2, correlator P3, and correlator P4 respectively. The output integrator value is brought into the position calculation formula of the four-quadrant detector to obtain the position of the light spot on the four-quadrant detector, and the orientation of the communication terminal can be obtained by simple geometric calculation through the focal length of the optical system and the position of the light spot on the four-quadrant detector.

；Further, the formula of the correlation operation is:

;

Among them, P _{i, j} (τ) is the output value of the correlation operation, c _j (t+τ) is the photocurrent generated by the input optical signal, c _i (t) is the local pseudocode generated by the voltage controlled oscillator, and T is the local Pseudocode sequence period.

Further, after calculating the relative position of the light spot on the four-quadrant detector, the real position of the light spot on the four-quadrant detector can be obtained by the center approximation method, and the specific calculation formula of the relative position of the light spot is:

；

;

；

;

Wherein ΔX is the relative position of the light spot to the center of the four-quadrant detector on the X-axis, wherein ΔY is the relative position of the light spot to the center of the four-quadrant detector on the Y-axis, P _nA , P _{nB ,} P _{nC and} P _nD are expressed as The output currents A, B, C and D of the four-quadrant detector are correlated and calculated by corresponding correlators.

Further, the optical system is a set of lenses or an optical antenna.

A ranging and positioning method based on the above-mentioned four-quadrant detector-based integrated communication, ranging and positioning device, comprising the following steps:

T1: Place the first optical transceiver at a distance from the object to be measured, and supply power to the device;

T2: Turn on the data input, perform modulo two operation on the input data and the pseudo-random code as the transmission data, load the transmission data on the laser through the modulator, and the laser realizes the conversion from the electrical signal to the optical signal through external modulation;

T3: The converted optical signal is amplified by the optical power amplifier and sent into space through the optical system;

T4: The first optical transceiver receives the optical signal reflected from the measured object, and collects the optical signal to the four-quadrant detector through the optical system;

T5: The four-quadrant detector outputs the received optical signal as an electrical signal, and outputs the electrical signal to the signal optical modulation and demodulation measurement and control board, and the signal optical modulation and demodulation measurement and control board identifies the signal with two groups of addresses respectively Symbols are used to perform correlation calculations to calculate the distance and orientation of the measured object relative to the first optical transceiver and the transmission information of the first optical transceiver;

Similarly, it can be obtained that the second optical transceiver measures the distance and orientation from the measured object.

Further, the signal light modulation and demodulation measurement and control board solves the received signal through an algorithm, specifically:

When ranging and positioning, use the same PN code as when transmitting; through the adjustment of the digital oscillator in the frequency word, the selected PN code will generate three sets of pseudo-random codes with different phases, which are respectively phase-leading PN4 codes and phase-current PN5 codes. Code, phase lag PN6 code;

When the optical signal touches the object to be measured, a reflected light spot will be generated, and the reflected light spot will be collected on the four-quadrant detector through the optical system, and the current output by the four-quadrant detector will be added to obtain the total current value generated by the optical power , comparing the total current value generated by the optical power with the current PN5 code of the phase, the time of flight can be obtained, and the distance of the object to be measured can be obtained by using the time of flight method;

The total current value generated by the optical power is correlated with the phase leading PN4 code, the phase current PN5 code and the phase lagging PN6, and the output value of the current code correlator is compared with the threshold value to capture the phase of the received optical signal, and the leading code The output value of the correlator is compared with the output value of the lagging code correlator to track the phase of the received light, and the dynamic phase tracking of the input signal light can be completed, and the output currents A, B, C, and D of the four-quadrant detector are respectively passed through the correlator P1, correlator P2, correlator P3, and correlator P4 perform correlation operations with the current code, and the output integrator value is brought into the position calculation formula of the four-quadrant detector to obtain the relative position of the light spot on the four-quadrant detector, according to the center approximation method The actual position of the reflected light spot on the four-quadrant detector can be obtained, and the orientation of the object to be measured can be obtained by simple geometric calculation through the focal length of the optical system and the position of the light spot on the four-quadrant detector.

Further, the specific formula of the time-of-flight method is:

；

;

Among them, S is the distance between the optical transceiver and the measured object, T is the flight time, and V is the speed of light propagating in the air.

A computer-readable storage medium is used for storing computer instructions, and when the computer instructions are executed by a processor, the steps of any one of the methods described above are realized.

The technical solution of the present invention uses the QD four-quadrant detector to perform real-time communication with other communication terminals, ranging and positioning. Compared with traditional radar equipment and laser radar, the equipment and method used in the present invention are relatively simple, without increasing the complexity of the equipment. Under the premise of high degree, the integration of communication, ranging and positioning is realized; the present invention adopts the pseudo-sequence sequence, and utilizes its good autocorrelation and cross-correlation characteristics, which can well extract the signal under the condition of low signal-to-noise ratio, The sensitivity is improved, and the functions of communication, ranging and positioning can be performed in real time through the cross-correlation characteristics of the pseudo-random sequence; in addition, different pseudo-code sequences give each laser communication device a unique identification address, so that multiple devices can simultaneously There will be no mutual interference during use.

Description of drawings

In order to more clearly illustrate the specific implementation of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the specific implementation or description of the prior art. Obviously, the accompanying drawings in the following description The drawings show some implementations of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative work.

Fig. 1 is a schematic diagram of an integrated device of communication, ranging and positioning based on a four-quadrant detector in the present invention;

Fig. 2 is a schematic flow chart of the communication, ranging and positioning integration method of the device of the present invention;

Explanation of reference signs:

1-the first optical transceiver; 2-modulator; 3-laser;

4-power amplifier; 5-four-quadrant detector; 6-signal light modulation and demodulation measurement and control board;

7-Optical system; 8-The second optical transceiver.

detailed description

The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as there is no conflict with each other.

Please refer to Figure 1, an integrated device for communication, ranging and positioning based on a four-quadrant detector, which is characterized in that it includes a first optical transceiver 1 and a second optical transceiver 8, and the first optical transceiver 1 and the second optical transceiver 8 are placed In the atmospheric channel, and keep the link clear;

The first optical transceiver 1 and the second optical transceiver 8 have the same structure, and both include a modulator 2, a laser 3, an optical power amplifier 4, a four-quadrant detector 5, a signal light modulation and demodulation measurement and control board 6 and an optical system 7;

The first optical transceiver 1 and the second optical transceiver 8 receive the optical signal sent by the other party. After receiving the optical signal, the first optical transceiver 1 and the second optical transceiver 8 perform optical signal modulation and demodulation on the received optical signal through their respective signal light modulation and demodulation measurement and control boards 6. The calculation is performed to obtain a calculation result, and the calculation result is the received transmission information and the position and orientation.

The present invention also includes a communication, ranging and positioning integrated method of the above-mentioned four-quadrant detector-based integrated communication, ranging and positioning device, including the following steps:

S1: Place the first optical transceiver 1 and the second optical transceiver 8 in the air channel, and supply power to the device;

S2: Turn on the data input, and perform modulo two operation on the input data and the pseudo-random code as the transmission data. In the first optical transceiver 1, the transmission data is loaded on the laser 3 through the modulator 2, and the laser 3 realizes the electrical signal to the optical signal through external modulation. signal conversion;

S3: The optical signal converted by the laser 3 in the first optical transceiver 1 is amplified by the optical power amplifier 4, and transmitted into space through the optical system 7;

S4: After the second optical transceiver 2 receives the optical signal sent by the first optical transceiver 1, it is collected on the four-quadrant detector 5 of the second optical transceiver 2 through the optical system 7 in the second optical transceiver 2;

S5: The four-quadrant detector 5 of the second optical transceiver 8 outputs the optical signal received by the first optical transceiver 1 and the optical signal emitted by itself and reflected by the other party as an electrical signal, and outputs the electrical signal to the signal optical modulation and resolution On the adjustment and control board 6, the signal light modulation and demodulation measurement and control board 6 performs correlation calculations on the generated electrical signals, and respectively calculates the distance and orientation of the first optical transceiver 1 relative to the second optical transceiver 8 and the information sent by the first optical transceiver 1;

Similarly, the first optical transceiver 1 receives the optical signal of the second optical transceiver 8, and calculates the distance, orientation and position of the second optical transceiver 8 relative to the first optical transceiver 1 through the signal light modulation and demodulation measurement and control board 6 in the second optical transceiver 8. Information sent by the second optical transceiver 8.

Please refer to FIG. 2, the signal light modulation and demodulation measurement and control board 6 solves the received signal through an algorithm, specifically:

Through different functions of ranging and communication, multiple groups of different types of PN codes are selected, and different types of PN codes are used as device address identifiers. In the communication function, the same pseudo-random code as that of the communication terminal is used;

Through the adjustment of the digital oscillator in the frequency word, the selected PN code generates three sets of pseudo-random codes with different phases, which are the phase-leading PN1 code, the phase-current PN2 code and the phase-lag PN3 code;

Adding the current A, B, C and D output by the four-quadrant detector 5 to obtain the total current value generated by the optical power is correlated with the phase leading PN1 code, the phase current PN2 code and the phase lag PN3 to correlate the current code Comparing the output value of the correlator with the threshold value to capture the phase of the received optical signal, and comparing the output value of the advanced code correlator with the output value of the lagging code correlator to track the phase of the received optical signal, the dynamic phase tracking of the input signal light can be completed. According to the current The integrated output value of the code correlator demodulates the communication information, and correlates the output currents A, B, C, and D of the four-quadrant detector 5 with the current code through the correlator P1, correlator P2, correlator P3, and correlator P4 respectively. Operation, the output integrator value is brought into the position calculation formula of the four-quadrant detector 5 to obtain the position of the light spot on the four-quadrant detector 5, and a simple geometric calculation is carried out through the focal length of the optical system 7 and the position of the light spot on the four-quadrant detector 5. The location of the communication terminal can be obtained.

；The formula of the correlation operation is:

;

Among them, P _{i, j} (τ) is the output value of the correlation operation, c _j (t+τ) is the photocurrent generated by the input optical signal, c _i (t) is the local pseudocode generated by the voltage controlled oscillator, and T is the local Pseudocode sequence period.

After the calculation of the relative position of the light spot on the four-quadrant detector 5, the true position of the light spot on the four-quadrant detector 5 can be obtained by the center approximation method, and the specific formula for calculating the relative position of the light spot is:

；

;

；

;

Wherein ΔX is the relative position of the light spot on the X-axis for the center of the four-quadrant detector 5, wherein ΔY is the relative position of the light spot on the Y-axis for the center of the four-quadrant detector 5, _PnA , _{PnB, PnC and PnD} respectively Represented as the output currents A, B, C and D of the four-quadrant detector 5 through corresponding correlators to perform correlation calculation values.

The optical system 7 is a set of lenses or an optical antenna.

The present invention also includes a ranging and positioning method based on the above-mentioned four-quadrant detector-based integrated communication, ranging and positioning device, including the following steps:

T1: Place the first optical transceiver 1 at a distance from the object to be measured, and supply power to the device;

T2: Turn on the data input, perform a modulo two operation on the input data and the pseudo-random code as the transmission data, load the transmission data on the laser 3 through the modulator 2, and the laser 3 realizes the conversion from the electrical signal to the optical signal through external modulation;

T3: The converted optical signal is amplified by the optical power amplifier 4 and sent into space through the optical system 7;

T4: The first optical transceiver 1 receives the optical signal reflected from the measured object, and collects the optical signal to the four-quadrant detector 5 through the optical system 7;

T5: The four-quadrant detector 5 outputs the received optical signal as an electrical signal, and outputs the electrical signal to the signal optical modulation and demodulation measurement and control board 6, and the signal optical modulation and demodulation measurement and control board 6 combines the signal with the two The group address identifier performs correlation calculations to calculate the distance and orientation of the measured object relative to the first optical transceiver 1 and the transmission information of the first optical transceiver 1;

In the same way, it can be obtained that the second optical transceiver 8 measures the distance and orientation from the measured object.

The signal light modulation and demodulation measurement and control board 6 solves the received signal through an algorithm, specifically:

When ranging and positioning, use the same PN code as when transmitting; through the adjustment of the digital oscillator in the frequency word, the selected PN code will generate three sets of pseudo-random codes with different phases, which are respectively phase-leading PN4 codes and phase-current PN5 codes. Code, phase lag PN6 code;

When the optical signal touches the object to be measured, a reflected light spot will be generated, and the reflected light spot will be collected on the four-quadrant detector 5 through the optical system 7, and the current output by the four-quadrant detector 5 will be added to obtain the optical power generated The total current value, compare the total current value generated by the optical power with the current PN5 code of the phase, you can get the time of flight, and the distance of the object to be measured can be obtained by using the time of flight method;

The total current value generated by the optical power is correlated with the phase leading PN4 code, the phase current PN5 code and the phase lagging PN6, and the output value of the current code correlator is compared with the threshold value to capture the phase of the received optical signal, and the leading code The output value of the correlator is compared with the output value of the lagging code correlator to track the phase of the received light, and the dynamic phase tracking of the input signal light can be completed, and the output currents A, B, C, and D of the four-quadrant detector 5 are respectively passed through the correlation Correlator P1, correlator P2, correlator P3, and correlator P4 perform correlation operations with the current code, and the output integrator value is brought into the position calculation formula of the four-quadrant detector 5 to obtain the relative position of the light spot on the four-quadrant detector 5, according to The center approximation method can obtain the actual position of the reflected light spot on the four-quadrant detector 5 , and the orientation of the object to be measured can be obtained by simple geometric calculation through the focal length of the optical system and the position of the light spot on the four-quadrant detector 5 .

The specific formula of the time-of-flight method is:

；

;

Among them, S is the distance between the optical transceiver and the measured object, T is the flight time, and V is the speed of light propagating in the air.

The present invention also includes a computer-readable storage medium for storing computer instructions, and when the computer instructions are executed by a processor, the steps of any one of the methods described above are implemented.

In the above embodiments, all or part of them may be implemented by software, hardware, firmware or any combination thereof. When implemented using software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on the computer, the processes or functions according to the embodiments of the present application will be generated in whole or in part. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website, computer, server or data center Transmission to another website site, computer, server, or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center integrated with one or more available media. The available medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a high-density digital video disc (digital video disc, DVD)), or a semiconductor medium (for example, a solid state disk (solid state disc, SSD)) etc.

In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software. The steps of the methods disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register. The storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps of the above method in combination with its hardware. To avoid repetition, no detailed description is given here.

It should be noted that the processor in the embodiment of the present application may be an integrated circuit chip, which has a signal processing capability. In the implementation process, each step of the above-mentioned method embodiments may be completed by an integrated logic circuit of hardware in a processor or instructions in the form of software. The above-mentioned processors may be general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components . Various methods, steps, and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like. The steps of the method disclosed in the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register. The storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps of the above method in combination with its hardware.

Apparently, the above-mentioned embodiments are only examples for clear description, rather than limiting the implementation. For those of ordinary skill in the art, on the basis of the above description, other changes or changes in different forms can also be made. It is not necessary and impossible to exhaustively list all the implementation manners here. However, the obvious changes or changes derived therefrom are still within the scope of protection of the present invention.

Claims (10)

1. A communication, ranging and positioning integrated device based on a four-quadrant detector is characterized by comprising a first optical transceiver (1) and a second optical transceiver (8), wherein the first optical transceiver (1) and the second optical transceiver (8) are placed in an atmospheric channel and a link is kept free of shielding;

the first optical transceiver (1) and the second optical transceiver (8) have the same structure and comprise a modulator (2), a laser (3), an optical power amplifier (4), a four-quadrant detector (5), a signal light modulation and demodulation measurement and control board (6) and an optical system (7);

the first optical transceiver (1) and the second optical transceiver (8) receive optical signals sent by the other side, after the first optical transceiver (1) and the second optical transceiver (8) receive the optical signals, the received optical signals are resolved through respective signal light modulation and demodulation measurement and control boards (6) to obtain resolving results, and the resolving results are received transmitting information, positions and directions.

2. The communication, ranging and positioning integrated method based on the four-quadrant detector-based communication, ranging and positioning integrated device of claim 1, characterized by comprising the following steps:

s1, a first optical transceiver (1) and a second optical transceiver (8) are placed in an atmospheric channel and supply power to the device;

s2, starting data input, performing modulo two operation on input data and pseudo-random codes to serve as transmitting data, loading the transmitting data on a laser (3) through a modulator (2) in the first optical transceiver (1), and realizing conversion from an electric signal to an optical signal through external modulation by the laser (3);

s3, amplifying an optical signal converted by the laser (3) in the first optical transceiver (1) through an optical power amplifier (4) and transmitting the optical signal to a space through an optical system (7);

s4, after receiving the optical signal sent by the first optical transceiver (1), the second optical transceiver (2) collects the optical signal to a four-quadrant detector (5) of the second optical transceiver (2) through an optical system (7) in the second optical transceiver (2);

s5, outputting the received optical signal sent by the first optical transceiver (1) and the optical signal which is transmitted by the second optical transceiver (8) and reflected by the opposite side to an electric signal by a four-quadrant detector (5), outputting the electric signal to a signal light modulation and demodulation measurement and control board (6), and carrying out correlation operation on the generated electric signal by the signal light modulation and demodulation measurement and control board (6) to respectively calculate the distance and the direction of the first optical transceiver (1) relative to the second optical transceiver (8) and the information sent by the first optical transceiver (1);

similarly, the first optical transceiver (1) receives the optical signal of the second optical transceiver (8), and calculates the distance and the direction of the second optical transceiver (8) relative to the first optical transceiver (1) and the information sent by the second optical transceiver (8) through the signal light modulation and demodulation measurement and control board (6) in the second optical transceiver (8).

3. The method according to claim 2, characterized in that the signal light modulation and demodulation measurement and control board (6) resolves the received signal by an algorithm, specifically:

selecting a plurality of groups of PN codes of different types through different functions of ranging and communication, wherein the PN codes of different types are used as equipment address identifiers, and the same pseudo-random codes as those of a communication end are used in the communication function;

through the adjustment of a digital oscillator on frequency words, three groups of pseudo-random codes with different phases are generated by the selected PN code, namely a phase lead PN1 code, a phase current PN2 code and a phase lag PN3 code;

the method comprises the steps of carrying out correlation operation on a total current value generated by light power obtained by adding currents A, B, C and D output by a four-quadrant detector (5), a phase advanced PN1 code, a phase current PN2 code and a phase delayed PN3, comparing an output value of a current code correlator with a threshold value to capture a phase of a received light signal, comparing an output value of the advanced code correlator with an output value of a delayed code correlator to track a phase of the received light, and then completing dynamic phase tracking of input signal light, demodulating communication information according to an integral output value of the current code correlator, carrying out correlation operation on output currents A, B, C and D of the four-quadrant detector (5) and a current code through a correlator P1, a correlator P2, a correlator P3 and a correlator P4 respectively, carrying out correlation operation on the output integrator value into a position calculation formula of the four-quadrant detector (5) to obtain the position of a light spot on the four-quadrant detector (5), and carrying out simple geometric calculation on the light spot position on the light through the focal length of an optical system (7) and the position of the four-quadrant detector (5) to obtain the position of a communication end position.

4. The method of claim 3, wherein the correlation operation is formulated as:

；

wherein, P _i，j (τ) is the correlation output value, c _j (t + τ) is the photocurrent generated by the input optical signal, c _i And (T) is a local pseudo code generated by the voltage-controlled oscillator, and T is a local pseudo code sequence period.

5. The method according to claim 4, wherein after calculating the relative position of the light spot on the four-quadrant detector (5), the real position of the light spot on the four-quadrant detector (5) can be obtained by a central approximation method, and the specific relative position of the light spot is calculated according to the following formula:

；

；

wherein DeltaX is the relative position of the light spot on the X axis relative to the center of the four-quadrant detector (5), deltaY is the relative position of the light spot on the Y axis relative to the center of the four-quadrant detector (5), P _nA 、P _nB、 P _{nC and} P _nD output currents A, B, C and D respectively expressed as four-quadrant detector (5) are correlated by corresponding correlators.

6. The device according to claim 1, characterized in that the optical system (7) is a set of lenses or an optical antenna.

7. A distance measuring and positioning method based on the four-quadrant detector communication, distance measuring and positioning integrated device as claimed in claim 1, comprising the steps of:

t1: placing a first optical transmitter and receiver (1) at a distance from an object to be measured to supply power to the device;

t2, starting data input, carrying out modulo two operation on input data and pseudo-random codes to obtain emission data, loading the emission data on a laser (3) through a modulator (2), and realizing the conversion from an electric signal to an optical signal through external modulation by the laser (3);

t3, amplifying the converted optical signal through an optical power amplifier (4) and transmitting the optical signal into space through an optical system (7);

t4, receiving the optical signal reflected from the measured object by the first optical transceiver (1), and collecting the optical signal to the four-quadrant detector (5) through the optical system (7);

t5: the four-quadrant detector (5) outputs the received optical signals as electric signals, and outputs the electric signals to the signal light modulation and demodulation measurement and control board (6), the signal light modulation and demodulation measurement and control board (6) respectively carries out correlation operation on the signals and two groups of address identifiers, and the distance and the direction of the object to be measured relative to the first optical transceiver (1) and the transmission information of the first optical transceiver (1) are settled;

in the same way, the second optical transceiver (8) measures the distance and the direction to the measured object.

8. The method according to claim 7, characterized in that the signal light modulation and demodulation measurement and control board (6) resolves the received signal by an algorithm, specifically:

during ranging and positioning, the same PN code as that during transmission is used; through the adjustment of a digital oscillator on frequency words, three groups of pseudo-random codes with different phases are generated by the selected PN code, namely a phase lead PN4 code, a phase current PN5 code and a phase lag PN6 code;

when an optical signal touches an object to be detected, a reflected light spot is generated, the reflected light spot is collected on a four-quadrant detector (5) through an optical system (7), the currents output by the four-quadrant detector (5) are added to obtain a total current value generated by optical power, the total current value generated by the optical power is compared with the current phase PN5 code to obtain the flight time, and the distance of the object to be detected can be obtained by adopting a flight time method;

the method comprises the steps of carrying out correlation operation on a total current value generated by optical power and a phase lead PN4 code, a phase current PN5 code and a phase lag PN6, comparing an output value of a current code correlator with a threshold value to capture the phase of a received optical signal, comparing an output value of the lead code correlator with an output value of a lag code correlator to track the phase of the received optical signal, and then completing dynamic phase tracking of input signal light, carrying out correlation operation on output currents A, B, C and D of a four-quadrant detector (5) through a correlator P1, a correlator P2, a correlator P3 and the current code of the correlator P4 respectively, substituting an output integrator value into a position calculation formula of the four-quadrant detector (5) to obtain the relative position of a light spot on the four-quadrant detector (5), obtaining the actual position of a reflected light spot on the four-quadrant detector (5) according to a central approximation method, and carrying out simple geometric calculation through the focal length of an optical system and the position of the light spot on the four-quadrant detector (5) to obtain the azimuth of an object to be detected.

9. The method according to claim 8, wherein the time-of-flight method is specifically formulated as:

；

wherein S is the distance between the optical transmitter and receiver and the object to be measured, T is the flight time, and V is the speed of light propagating in the air.

10. A computer readable storage medium storing computer instructions, which when executed by a processor, perform the steps of the method of any one of claims 2 to 5.

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