CN116318394B - Beacon-free composite scanning method of light and small-sized laser communication terminal - Google Patents
Beacon-free composite scanning method of light and small-sized laser communication terminal Download PDFInfo
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- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
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Abstract
The invention provides a beaconing-free compound scanning method of a light and small-sized laser communication terminal, and belongs to the field of space laser communication. The invention covers an uncertain area through the light and small two-dimensional turntable and the fine tracking galvanometer compound scanning, reduces the design of an unnecessary overlapping area and can reduce the capturing time. Wherein, the fine tracking galvanometer performs raster scanning in positive and negative modes in the subarea, and performs raster spiral scanning in an uncertain area by combining a light and small two-dimensional turntable. In each step of raster spiral scanning of the light and small two-dimensional turntable from inside to outside, the raster scanning of the fine tracking galvanometer in each sub-area needs to be compounded once until the coverage of an uncertain area is completed, and a target signal beam is captured. The method can fully realize the high-speed performance of the precise tracking galvanometer, and improves the capturing efficiency. The invention is an innovative technology in the field of space laser communication and has important significance for the research and development of light-weight and miniaturized laser communication terminals.
Description
Technical Field
The invention relates to a beaconing-free compound scanning method of a light and small-sized laser communication terminal, belonging to the technical field of space laser communication.
Background
Compared with radio frequency communication, the space laser communication system is a communication terminal which uses laser as an information carrier to establish a high-speed data communication link, has the characteristics of large communication capacity, high transmission rate, good confidentiality, strong anti-interference capability and the like, gradually develops into the fields of deep space communication and networking communication, and is one of key technologies for realizing future world integration information networks. The traditional laser communication system generally adopts a large-divergence-angle signal beam for capturing and tracking, and the large-divergence-angle signal beam has the defects of low capturing difficulty, and the obvious increase of the output power, the terminal quality, the volume, the complexity and the like of a laser light source caused by outputting beacon light. With the continuous development of satellite transmission carrying light and small communication load, space networking and other application demands, the laser communication terminal will trend more toward the development direction of high integration, miniaturization and light weight. The light and small-sized laser communication terminal is a novel non-beacon capturing mechanism which adopts a small divergence angle signal beam to scan and cover an uncertain area and mainly adopts a capturing mode of signal beam scanning and visual axis correction to realize the establishment of a link. The invention mainly aims to solve the problem of scanning mode design when a light small-sized communication terminal realizes non-beacon capture by a small-divergence angle signal beam, ensure the accuracy of the process coverage of a non-beacon composite scanning subarea and an uncertain area, and improve the composite scanning coverage efficiency and the capture probability.
Disclosure of Invention
The invention provides a beaconing-free compound scanning method of a light and small-sized laser communication terminal, which is characterized in that a fine tracking galvanometer is used for executing raster scanning of a positive process and a reverse process in a subarea, and meanwhile, a scheme of executing raster spiral scanning in an uncertain area by combining a light and small-sized two-dimensional turntable is combined, so that the problem that the traditional beaconing-free compound scanning method cannot be directly adopted due to small divergence angle of signal light in the beaconing-free capturing process of the light and small-sized laser communication terminal system at present is solved.
A beaconing-free composite scanning method of a light-small-sized laser communication terminal, comprising the steps of:
s100, initially pointing an uncertain region by a light and small two-dimensional turntable;
s200, performing raster spiral scanning from inside to outside in an uncertain region by utilizing a light and small two-dimensional turntable, and simultaneously performing raster scanning in a subarea by utilizing a fine tracking galvanometer until a composite beaconing-free scanning period of the whole scanning coverage uncertain region is completed;
s300, judging whether the imaging sensor detects a target signal beam, if the capturing is successful, correcting the visual axis direction according to the position deviation amount of the target signal beam, and executing S400; if the capturing fails, returning to S100;
s400, the light and small-sized laser communication terminal adopts a beaconing-free compound scanning method, the target signal light beam captured in S300 is utilized to switch to a tracking mode of the target signal light, and a control quantity is generated according to the deviation quantity of the light spot from the center of the detection view field to drive a terminal servo system to track.
Further, in S200, the size of the sub-region is determined by the scanning range of the fine tracking galvanometer.
Further, in S200, when the fine tracking galvanometer performs raster scanning in the sub-area, two raster scanning methods are included, one is that the fine tracking galvanometer controls the signal beam to start scanning from the lower left corner position of the sub-area, and the lower right corner position ends scanning, which is defined as a positive process; the other is that the fine tracking galvanometer control signal beam starts scanning from the right lower corner position of the subarea, the left lower corner position finishes scanning, the scanning is defined as a reverse process, and the completion of one positive process and one reverse process are regarded as the completion of one raster scanning.
Further, in S200, the method of performing raster spiral scanning in an uncertainty region by the lightweight two-dimensional turntable is: and performing grating spiral skip from the initial pointing position from inside to outside so as to realize the scanning process from a high probability area to a low probability area, wherein the grating spiral skip step distance of the light and small two-dimensional turntable is determined by the scanning range of the subarea.
Further, in S200, in the process of fine tracking the galvanometer control signal beam to perform raster scanning, an overlap factor of the signal light scanning sub-region is set between each column of raster scanning.
Further, in S200, the lightweight two-dimensional turn table performs one-step raster helical scan from the initial pointing position, and sets an overlap coefficient between sub-areas between the two-step raster helical scan.
Further, when the light and small two-dimensional turntable finishes one-step raster spiral scanning, the fine tracking galvanometer control signal beam finishes one raster scanning, and the detection directions of every two adjacent raster scanning are opposite, namely the positive process and the negative process are sequentially switched.
A storage medium having stored thereon a computer program which when executed by a processor implements a beaconing-free compound scanning method of a lightweight, compact laser communication terminal as described above.
A computer device, comprising: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the beaconing-free compound scanning method of the light and small-sized laser communication terminal.
The invention has the beneficial effects that: the invention mainly combines the structural characteristics of scanning speed, scanning range and the like between two actuating mechanisms of a two-dimensional turntable and a fine tracking galvanometer of a light and small laser communication system, and adopts a beaconing-free compound scanning method to realize the design of two raster scanning modes in a subarea and a raster spiral scanning mode in an uncertain area through compound control. The method effectively solves the problem of the optimal design of the small divergence angle signal beam scanning coverage uncertainty region, ensures the accuracy of the coverage of the process of the beaconing-free composite scanning sub-region and the uncertainty region, ensures the composite scanning coverage efficiency and improves the capturing probability.
The invention provides a novel beaconing-free compound scanning method suitable for a light and small-sized laser communication terminal, which can always ensure the optimal scanning coverage efficiency and the optimal capturing time of a signal beam in a subarea and an uncertain area under the compound condition of two actuating mechanisms of a light and small-sized two-dimensional turntable and a fine tracking galvanometer, reduces the complexity of the capturing process of the signal beam with a small divergence angle, and improves the scanning speed and the capturing probability of the light and small-sized laser communication terminal.
Drawings
FIG. 1 is a schematic diagram of fine tracking galvanometer raster scanning in a sub-region in a beaconing-free compound scanning method of a light and small laser communication terminal;
fig. 2 is a schematic diagram of a beaconing-free composite scanning of a light-small two-dimensional turntable and a fine tracking galvanometer in a beaconing-free composite scanning method of a light-small laser communication terminal according to the invention;
fig. 3 is a method flow chart of a beaconing-free composite scanning method of a light-weight and small-sized laser communication terminal according to the present invention.
Wherein 1 is a subarea, 2 is raster scanning, 3 is a signal beam, 4 is a subarea left lower corner position, 5 is a subarea right lower corner position, 6 is an uncertain area, 7 is raster spiral scanning, 8 is an initial pointing position, 9 is raster spiral jumping step distance, and 10 is a one-step raster spiral position.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
A beaconing-free composite scanning method of a light-small-sized laser communication terminal, comprising the steps of:
s100, initially pointing an uncertain region by a light and small two-dimensional turntable;
s200, performing raster spiral scanning from inside to outside in an uncertain region by utilizing a light and small two-dimensional turntable, and simultaneously performing raster scanning in a subarea by utilizing a fine tracking galvanometer until a composite beaconing-free scanning period of the whole scanning coverage uncertain region is completed;
s300, judging whether the imaging sensor detects a target signal beam, if the capturing is successful, correcting the visual axis direction according to the position deviation amount of the target signal beam, and executing S400; if the capturing fails, returning to S100;
s400, the light and small-sized laser communication terminal adopts a beaconing-free compound scanning method, the target signal light beam captured in S300 is utilized to switch to a tracking mode of the target signal light, and a control quantity is generated according to the deviation quantity of the light spot from the center of the detection view field to drive a terminal servo system to track.
In contrast to the prior art of the present invention,
the precision is higher: by means of multiple scanning and superposition processing, the positioning accuracy and reliability of the signal source can be improved, and more accurate signal tracking and position correction are achieved.
The rapidity is higher: the mode of combining the raster spiral scanning and the raster scanning can accelerate the scanning speed on the premise of not influencing the measuring precision, improves the working efficiency of the system and realizes faster signal source detection and positioning.
The adaptivity is stronger: the method has dynamic self-adaptability, adapts to different working environments and complex electromagnetic field interference, and improves the stability and reliability of an optical detection system.
The interference immunity is stronger: through repeated scanning superposition processing and a mode of combining a fine tracking vibrating mirror and a light and small two-dimensional turntable, the method has the characteristic of strong anti-interference performance, can effectively resist the influence of external interference, noise and the like, and improves the stability and the reliability of the system.
Further, in S200, the size of the sub-region is determined by the scanning range of the fine tracking galvanometer.
Specifically, S200 is a step of performing raster scanning, in which the size of the sub-region is determined by the scanning range of the fine tracking galvanometer. Specifically, the fine tracking galvanometer enables the signal beam to form different scanning ranges and scanning speeds by precisely controlling the moving position and speed of the galvanometer, so that the size and position of the subarea are determined. Furthermore, the fine tracking galvanometer can dynamically adjust the scanning range and speed according to different working environments and application requirements so as to adapt to different signal source positions and motion states. Meanwhile, the size of the subareas can be adjusted according to actual conditions, so that the accuracy and reliability of signal source positioning and tracking are improved to the greatest extent.
Therefore, the technical characteristics can bring more flexible and efficient signal source positioning and tracking methods, can be applied to different working scenes and application fields, improves the practicability and applicability of the system, and can provide beneficial technical support for scientific research and engineering practice in the related fields.
Further, in S200, two raster scanning modes are included in the sub-region, one is that the fine tracking galvanometer control signal beam starts scanning from the lower left corner position of the sub-region, and the lower right corner position ends scanning, which is defined as a positive process; the other is that the fine tracking galvanometer control signal beam starts scanning from the right lower corner position of the subarea, the left lower corner position finishes scanning, the scanning is defined as a reverse process, and the completion of one positive process and one reverse process are regarded as the completion of one raster scanning.
Specifically, the sub-area includes two raster scanning modes, which are scanned by a fine tracking galvanometer control signal beam. One way is to start scanning from the lower left corner of the sub-region, from left to right, and end the scanning until reaching the lower right corner, which is defined as a positive process; another way is to start the scan from the lower right corner of the sub-area, from right to left, until the lower left corner is reached, which is defined as the reverse process.
Through two different scanning modes, all possible signal source positions in the subarea can be covered to the greatest extent, and the accuracy and reliability of signal source detection and positioning are improved. Meanwhile, when bidirectional scanning is performed, the forward process or the reverse process can be selected for scanning according to specific conditions, so that requirements under different scenes are met, and a more flexible and efficient positioning and tracking mode is realized.
Further, in S200, the method of performing raster spiral scanning in an uncertainty region by the lightweight two-dimensional turntable is: and performing grating spiral skip from the initial pointing position from inside to outside so as to realize the scanning process from a high probability area to a low probability area, wherein the grating spiral skip step distance of the light and small two-dimensional turntable is determined by the scanning range of the subarea.
Specifically, S200 is a step of performing raster helical scanning, in which the raster helical scanning is performed in an uncertainty region by using a lightweight two-dimensional turntable by: and performing grating spiral skip from the initial pointing position from inside to outside so as to realize the scanning process from a high probability area to a low probability area, wherein the grating spiral skip step distance of the light and small two-dimensional turntable is determined by the scanning range of the subarea.
The invention makes full use of the characteristics of raster spiral scanning, and can start scanning from a high probability area to gradually spread to a low probability area by executing raster spiral skip from inside to outside, so that the searching and scanning range of a suspicious area is gradually reduced, and the accuracy and efficiency of signal source positioning and tracking are improved. Meanwhile, the grating spiral jump step distance of the light and small two-dimensional turntable can be adjusted according to actual conditions, so that the accuracy and reliability of signal source positioning and tracking are improved to the greatest extent.
Further, in S200, in the process of fine tracking the galvanometer control signal beam to perform raster scanning, an overlap factor of the signal light scanning sub-region is set between each column of raster scanning.
Specifically, setting the overlap factor of the signal light scanning sub-regions between each column of raster scanning can bring about several beneficial effects:
improving coverage density of scanning: due to the existence of the overlapping factors, a partially overlapped area can appear between different raster scans, so that the coverage density of the scanning can be increased, the omission ratio is reduced, and the detection probability and the tracking precision are improved.
Reducing the scanning period: the setting of the overlap factor can directly affect the speed and period of the raster scan. The smaller the overlap factor, the smaller the area the beam needs to cover during scanning, and the corresponding reduction in scanning period.
Improving the capture probability: the presence of the overlap factor corresponds to sampling the same region multiple times in different scan periods. By calculating the difference between these sampling points, the deviation due to the spot offset and transmission error can be reduced, and the capturing efficiency or capturing probability can be improved.
Further, in S200, the lightweight two-dimensional turn table performs one-step raster helical scan from the initial pointing position, and sets an overlap coefficient between sub-areas between the two-step raster helical scan.
Specifically, the initial position of the observed target can be rapidly determined through one-step raster helical scanning, and the gap between the scans can be reduced by setting the overlap coefficient between two-step raster helical scanning, so that the scanning accuracy is improved. The use of helical scanning can enlarge the viewable area and the overlap factor can reduce the gap in the scanned area between different locations, thereby increasing the scan range. Since the change in the angular velocity is small, inertia and friction of the movement can be reduced, thereby reducing the power consumption of the laser. Due to the adoption of the light and small two-dimensional turntable, the rotation speed of the laser beam is higher, and the arrangement of the overlapping coefficient can enable the switching of the laser beam between two scanning areas to be smoother, so that the response speed of the system is improved. The light and small two-dimensional turntable has lower cost compared with a large turntable, and meanwhile, the overlapping coefficient of the raster spiral scanning and the subareas can reduce certain hardware cost.
Further, when the light and small two-dimensional turntable finishes one-step raster spiral scanning, the fine tracking galvanometer control signal beam finishes one raster scanning, and the detection directions of every two adjacent raster scanning are opposite, namely the positive process and the negative process are sequentially switched.
Specifically, as the detection directions of every two adjacent raster scanning are opposite, and the overlapping coefficient of the raster scanning and the subarea is added, the sampling quantity can be obviously increased, so that the detection probability and the tracking precision of the target signal beam are improved. The mutual switching between the positive process and the negative process can enable signals generated by two adjacent raster scanning to avoid aliasing in time, thereby reducing the probability of signal aliasing and improving the tracking accuracy. After forward and backward scanning, the number of signal samples can be increased, and the influence of interference and noise can be avoided as much as possible in the sampling period, so that the noise of the system is reduced. By adopting the scanning mode with alternating front and back, the influence of signal aliasing and noise can be reduced, and the influence caused by potential dynamic deviation and instability can be avoided, so that the reliability and the robustness of the system are improved. The switching between forward and reverse scanning has low requirement on hardware, and can reduce the power consumption of the system and the maintenance cost of the system.
A storage medium having stored thereon a computer program which when executed by a processor implements a beaconing-free compound scanning method of a lightweight, compact laser communication terminal as described above.
In particular, in implementing the beaconing-free compound scanning method of the light-weight and small-sized laser communication terminal, a storage medium may be used, on which a computer program is stored, which is executed by a processor to implement the compound scanning method. The computer program comprises required algorithms and flows, and can be analyzed and executed by the processor to realize the functions of data processing, transmission, control and the like.
The invention can solidify the implementation process of the compound scanning method in the storage medium, and the implementation process is executed by the processor, so that the complexity and risk of manual operation are avoided, and the labor cost and error for implementing the method are reduced. Meanwhile, the storage medium has portability and reusability, and can be used in different occasions and application processes for realizing the beaconing-free compound scanning method.
A computer device, comprising: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the beaconing-free compound scanning method of the light and small-sized laser communication terminal.
In particular, in implementing a beaconing-free compound scanning method of a lightweight, compact laser communication terminal, a computer device may be used that includes a memory, a processor, and a computer program stored in the memory. The processor executes a program to implement a compound scanning method.
The computer equipment can provide the needed computing resource, storage resource and program support for the processor, realize the processing and transmission of data, control and manage the realization and operation of the compound scanning method. By running the computer program on the computer equipment, the compound scanning method can be automatically realized, the manual intervention of a user is reduced, the time and the cost are saved, and the stability and the accuracy of the realization method are improved.
Therefore, the technical characteristics can provide a convenient and efficient implementation mode for realizing the compound scanning method, reduce manual intervention of a user, improve accuracy and stability of the method, and promote scientific research and application practice in related fields.
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the beaconing-free composite scanning method of the light and small-sized laser communication terminal is established in a composition structure comprising a subarea 1, a raster scanning 2, a signal beam 3, a subarea left lower corner position 4, a subarea right lower corner position 5, an uncertain area 6, a raster spiral scanning 7, an initial pointing position 8, a raster spiral step distance 9 and a one-step raster spiral position 10;
the embodiment provides a beaconing-free compound scanning method of a light and small-sized laser communication terminal, which is used for solving the problem that a light and small-sized laser communication system which removes traditional beacon light scans a subarea by utilizing signal light with a small divergence angle to realize the increase of the divergence angle, is a novel capturing mechanism, and is a beaconing-free compound scanning method which is finished cooperatively by utilizing the bandwidth characteristics and the advantages of scanning speed characteristics of two actuating mechanisms, namely a light and small-sized two-dimensional turntable and a fine tracking vibrating mirror. In this embodiment, the fine tracking galvanometer is adopted to complete the raster scanning 2 in the subarea 1, and the light and small two-dimensional turntable is combined with the diagram shown in fig. 1, and the raster spiral scanning 7 is completed in the uncertain area 6, and each execution process of the raster spiral scanning is combined with the scanning process of the subarea, namely the beaconing-free compound scanning method of the light and small laser communication terminal is shown in fig. 2. In each step of raster spiral scanning executed from inside to outside from the initial position of the light-small two-dimensional turntable in the uncertain area, the raster scanning of the composite fine tracking galvanometer control signal beam 3 in each sub-area is required, and the beaconing-free composite scanning method flow chart shown in fig. 3 is combined.
In this embodiment, for the light and small-sized laser communication system for removing the high-power beacon light, in the process of capturing by adopting the signal beam with a small divergence angle, the beaconing-free composite scanning method provided by the invention is needed to be utilized, the tracking servo system is used for correcting the optical axis by judging whether the imaging sensor detects the target signal beam 3, and the control system drives the laser communication terminal executing mechanism to complete the scanning and capturing process of the target beam, so that stable and reliable automatic tracking is finally realized on the basis.
Next, a description will be given of a beaconing-free composite scanning method of a light-weight and small-sized laser communication terminal according to the present embodiment, with reference to fig. 1, 2 and 3, including the steps of:
step one: executing raster scanning 2 in the subarea 1 by utilizing a fine tracking galvanometer, wherein the size of the subarea 1 is determined by the scanning range of the fine tracking galvanometer, and the subarea 1 comprises two raster scanning modes, one mode is that a fine tracking galvanometer control signal beam 3 starts scanning from a subarea left lower corner position 4 and a subarea right lower corner position 5 ends scanning; the other is that the fine tracking galvanometer control signal beam starts scanning from the right lower corner position 5 of the subarea, and the left lower corner position 4 of the subarea ends scanning;
step two: the light and small two-dimensional turntable performs raster spiral scanning 7 in the uncertain region 6, performs raster spiral jumping from the initial pointing position 8 from inside to outside, realizes the scanning process from a high probability region to a low probability region, and determines the raster spiral jumping step distance 9 of the light and small two-dimensional turntable by the scanning range of the subarea;
step three: the light and small two-dimensional turntable is initially directed to an uncertain region, the fine tracking galvanometer controls the signal beam 3 to perform raster scanning, scanning is started from the lower left corner of the current sub-region, an overlapping factor of the signal light scanning sub-region is set between each column of raster scanning, the occurrence of missing scanning in the sub-region is prevented, and scanning is ended at the lower right corner of the current sub-region;
step four: the light and small two-dimensional turntable performs one-step raster spiral scanning from an initial pointing position, sets an overlapping coefficient between subareas from the initial pointing position 8 to the one-step raster spiral position 10, performs raster scanning by a fine tracking galvanometer control signal beam 3 after the jump is finished, starts scanning from the right lower corner of the current subarea, sets an overlapping factor of a signal light scanning subarea between each row of raster scanning, prevents the occurrence of missed scanning in the subarea, and finishes scanning from the left lower corner of the current subarea;
step five: according to the third and fourth steps, continuously executing the composite scanning process of the light and small two-dimensional turntable and the fine tracking galvanometer, after each step of raster spiral scanning 7 is executed by the light and small two-dimensional turntable, the mode of executing raster scanning 2 by the fine tracking galvanometer is also switched once, namely, the fine tracking galvanometer starts to execute the positive process of raster scanning from the lower left corner in the subarea, and the fine tracking galvanometer starts to execute the inverse process of raster scanning from the lower right corner in the subarea until the composite beaconing-free scanning period of the whole scanning coverage uncertain area is completed;
step six: judging whether the imaging sensor detects the target signal beam 3, and if the capturing is successful, correcting the visual axis direction according to the position deviation amount of the target signal beam; if the capturing is unsuccessful, returning to the executing step three;
step seven: the light and small-sized laser communication terminal adopts a beaconing-free compound scanning method, the target signal light beam 3 captured in the step six is utilized to switch to a tracking mode of the target signal light, and a control quantity is generated according to the deviation quantity of the light spot from the center of the detection view field to drive a terminal servo system to track.
The invention provides a beaconing-free compound scanning method of a light and small-sized laser communication terminal, which aims at the problem of the increase of the difficulty of the capturing process caused by the small divergence angle of signal light in a light and small-sized laser communication system, and the invention utilizes the characteristics of large execution range, small bandwidth, small execution range and high speed of a fine tracking vibrating mirror to execute the raster scanning of two modes of a positive process and a reverse process in a subarea through the fine tracking vibrating mirror, and simultaneously, the raster spiral scanning is executed in an uncertain area by combining with the two-dimensional rotating table, so that the working efficiency of each executing mechanism of the laser communication system is obviously improved. The adoption of the method reduces the complexity of the capturing process caused by structural factors, and can further improve the capturing probability.
Claims (7)
1. The beaconing-free compound scanning method of the light-small-sized laser communication terminal is characterized by comprising the following steps of:
s100, initially pointing an uncertain region by a light and small two-dimensional turntable;
s200, performing raster spiral scanning from inside to outside in an uncertain region by utilizing a light and small two-dimensional turntable, and simultaneously performing raster scanning in a subarea by utilizing a fine tracking galvanometer until a composite beaconing-free scanning period of the whole scanning coverage uncertain region is completed;
s300, judging whether the imaging sensor detects a target signal beam, if the capturing is successful, correcting the visual axis direction according to the position deviation amount of the target signal beam, and executing S400; if the capturing fails, returning to S100;
s400, a light and small-sized laser communication terminal adopts a beaconing-free compound scanning method, a target signal beam captured in S300 is utilized to switch to a tracking mode of the target signal beam, and a control quantity is generated according to the deviation quantity of a light spot from the center of a detection view field to drive a terminal servo system to track;
in S200, when the fine tracking galvanometer performs raster scanning in the sub-region, two raster scanning modes are included, one is that the fine tracking galvanometer controls the signal beam to start scanning from the lower left corner position of the sub-region, and the lower right corner position ends scanning, which is defined as a positive process; the other is that the fine tracking galvanometer control signal beam starts scanning from the right lower corner position of the subarea, the left lower corner position finishes scanning, the scanning is defined as a reverse process, and the completion of one positive process and one reverse process are regarded as the completion of one raster scanning;
when the light and small two-dimensional turntable finishes one-step raster spiral scanning, the fine tracking galvanometer control signal beam finishes one raster scanning, and the detection directions of every two adjacent raster scanning are opposite, namely the positive process and the negative process are switched in turn.
2. The beaconing-free compound scanning method of a light and small-sized laser communication terminal according to claim 1, wherein in S200, the size of the sub-area is determined by the scanning range of the fine tracking galvanometer.
3. The beaconing-free compound scanning method of a lightweight and compact laser communication terminal as claimed in claim 2, wherein in S200, the method of performing raster helical scanning of the lightweight and compact two-dimensional turntable in an uncertainty region is: and performing grating spiral skip from the initial pointing position from inside to outside so as to realize the scanning process from a high probability area to a low probability area, wherein the grating spiral skip step distance of the light and small two-dimensional turntable is determined by the scanning range of the subarea.
4. A beaconing-free compound scanning method of a light-weight and small-size laser communication terminal according to claim 3, characterized in that in S200, an overlap factor of the signal light scanning sub-areas is set between each column of raster scanning in the process of performing raster scanning by the fine tracking galvanometer control signal light beam.
5. A beaconing-free compound scanning method of a lightweight and compact laser communication terminal as claimed in claim 4, characterized in that in S200 the lightweight and compact two-dimensional turntable performs one-step raster helical scanning from an initial pointing position, and sets an overlap coefficient between sub-areas between two raster helical scanning.
6. A storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements a beaconing-free compound scanning method of a lightweight miniaturized laser communication terminal as claimed in any one of claims 1 to 5.
7. A computer device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement a beaconing-free compound scanning method of a lightweight miniaturized laser communication terminal as claimed in any one of claims 1 to 5.
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