CN110133626B - Method and system for checking parallelism of receiving and transmitting optical axes of laser ranging system - Google Patents
Method and system for checking parallelism of receiving and transmitting optical axes of laser ranging system Download PDFInfo
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Abstract
The invention belongs to the technical field of laser ranging, and particularly relates to a method and a system for checking parallelism of a receiving and transmitting optical axis of a laser ranging system. The system comprises a laser ranging system, a star guiding system and an optical reversing device, wherein the star guiding system is arranged on the laser ranging system. The star guiding system is introduced, so that the monitoring view field of the system is enlarged. By combining the laser attenuation technology and the range gate technology, the optical retroreflection device is utilized to intercept at least part of light as reference light in the emitted light to calibrate the center position of the video field, and simultaneously, the target tracking closed-loop method is utilized to realize real-time automatic calibration of the parallelism of the receiving and transmitting optical axes of the system. The function of receiving and transmitting optical axes of the automatic adjusting system is considered in the single laser ranging process, the pointing precision of the laser ranging system is effectively improved, the echo rate and the working efficiency of the system are improved, and the method has important significance for the full-automatic era of the laser ranging technology.
Description
Technical Field
The invention belongs to the technical field of laser ranging, and particularly relates to a method and a system for checking parallelism of a receiving and transmitting optical axis of a laser ranging system.
Background
The space detection technology realized by the laser ranging system is a multidisciplinary comprehensive technology formed by combining technologies of laser, photoelectric detection, automatic control, electronic communication, astronomical measurement, satellite orbit and the like. Different from other geodetic space measurement technologies, the laser ranging system adopts a high-repetition frequency, high-peak power and narrow-pulse laser, solves a series of problems of low ranging precision, short ranging range, poor stability, huge equipment and the like of the traditional radar system, breaks through the limitations of ultrasonic ranging and other optical ranging technologies, and provides an advanced space detection means with all weather, high precision, interference resistance, miniaturization and the like. In recent years, the research of a high-performance laser ranging system gradually goes from a laboratory to a field test, and the high-performance laser ranging system is widely applied to the engineering fields of space exploration, aerospace and the like, and has attractive practical prospects.
In the long-distance laser ranging process, after the ground observation station guides the telescope to track the target according to the forecast of the observation target, the laser emits laser pulse to the observation target, the surface of the observation target reflects the echo photons to the ground observation station, meanwhile, the receiving telescope is used for transmitting echo signals to the time measurement subsystem, and finally, the distance R between the earth and the observation target is obtained by measuring the time delta t of the laser pulse to and fro between the earth and the observation target. Depending on the observed target, laser ranging systems are classified into satellite laser ranging Systems (SLR), space debris laser ranging systems (DLR), lunar laser ranging systems (LLR), and the like.
Conventional laser ranging systems mainly include:
(1) A laser and an emission system. The laser produces laser pulses that are reflected and collimated by the folded axis emission system.
(2) The telescope servo tracking system mainly comprises a transmitting mirror, a receiving mirror and a CCD, and functions of transmitting laser, receiving laser, monitoring satellite tracking state and the like are respectively completed.
(3) The photon detecting system consists of mainly receiving telescope, variable receiving diaphragm, narrow band interference filter, photoelectric receiving device, discriminator, time interval measuring device, etc. After being focused by the receiving telescope, the laser pulse echo passes through the receiving diaphragm, the interference filter and enters the photoelectric receiving device. An electrical pulse is generated through the optoelectronic device, a rectangular pulse is output through the discriminator, and finally the time interval counter is entered.
(4) The time frequency system provides absolute time coordinates of system operation, and one of the functions of the time frequency system is to receive the second pulse and UTC time of the GPS satellite system and input the second pulse and UTC time into the control computer; its second function is to provide a highly stable 10MHz signal.
(5) The computer control system has the main functions as follows: calculating the real-time position of the observation target according to the forecast; controlling the laser to emit pulses by an ignition signal; the distance gate is precisely controlled by a door opening signal; the frame and the telescope are controlled to operate through an axial angle encoder and a servo; collecting observation data through a computer structure; and correcting instrument pointing errors, calibrating system delay, preprocessing observation data and forming a standard point data file.
The optical system for laser ranging mainly adopts two modes of a receiving-transmitting separation optical path and a common optical path. Compared with a laser ranging system for receiving and transmitting separated light paths, the system adopting the common light path has a certain limit on the laser emission frequency, and has higher requirements on the performances of optical elements adopted in the system, such as an optical turning mirror and the like. At present, most of the international stations adopt a receiving-transmitting separation optical system, generally a telescope with a small caliber smaller than 300mm is used as a transmitting laser telescope, and another telescope with a larger caliber is used as a receiving wave-receiving telescope.
For a laser ranging system with separated transmitting and receiving light paths, the parallelism of laser receiving and transmitting light axes has important influence on the exertion of the ranging performance of the system and the realization of the ranging precision. In order to ensure that the transceiving optical axes of the system have higher parallelism, the system is regulated and maintained at intervals. However, over time, the transceiver axis of the system will be affected by various factors such as temperature, gravity, wind disturbance, etc., and will change to different extents. Particularly for daytime laser ranging, the temperature difference between day and night is large, the kude optical path and the laser beam are seriously deviated, the parallelism of the system receiving and transmitting optical axis exceeds the allowable range of the parallelism of the system optical axis, and the measuring range and the ranging precision of the laser ranging system are drastically reduced.
In the daily maintenance of the laser ranging system, the calibration method for the parallelism of the receiving and transmitting optical axes of the system mainly comprises a projection target method, a large-caliber collimator method, a small-caliber collimator method, a laser optical axis instrument method, a penta-prism method, a beam splitting projection method and the like. Although the experimental method is mature, the actual operation is very difficult and complex, the experimental method cannot be realized in the ranging process, cannot adapt to various environmental changes during the outfield measurement, and cannot meet the requirements of testing and inspection in the conventional ranging process.
Disclosure of Invention
In view of the above, the main objective of the present invention is to provide a method and a system for checking the parallelism of the receiving and transmitting optical axes of a laser ranging system, which introduces a star guiding system to expand the monitoring field of view of the system. By combining the laser attenuation technology and the range gate technology, the optical retroreflection device is utilized to intercept at least part of light as reference light to adjust the center position of the field of view, and simultaneously, the target tracking closed-loop method is utilized to realize real-time automatic checking and correction of the parallelism of the receiving and transmitting optical axes of the system. The function of receiving and transmitting optical axes of the automatic adjustment system is considered in the single laser ranging process, the pointing precision of the laser ranging system is effectively improved, the echo rate and the working efficiency of the system are improved, and the method has important significance for the laser ranging technology to the full-automatic era.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
a method for checking parallelism of a transceiving optical axis of a laser ranging system, the method comprising the steps of:
step 1: adjusting the parallelism of the receiving and transmitting optical axes;
step 2: tracking the target according to the track forecast, and capturing the target;
step 3: the laser generates laser pulses, the laser pulses form two paths of electric pulses through the main wave sampling circuit, one path of the electric pulses is the main wave pulse and is used for starting an event timer; the other path is used for sampling from the time frequency standard and recording the laser emission time Tmean-pulse;
step 3: transmitting the laser pulse to an observation target;
step 4: intercepting part of light from the laser pulse by using an optical reversing device as reference light; the reference light is returned to the receiving system, attenuated by the laser attenuation technology and imaged to the low-light television camera;
step 5: the control computer obtains the imaging position (A1, E1) of the reference light in real time, and obtains the position offset of the reference light after the standard deviation calculation is carried out on the imaging position and the ideal position (A0, E0) Δ A， Δ E) The corrected reference light position is sent to a servo system to finish the adjustment of the center position of the field of view;
step 6: the low-light television camera acquires images of the observation targets, and the control computer converts the position deviation of the observation targets into actual off-target quantity under a measuring station coordinate system in real time; the target tracking and closing device sends the target tracking and closing device to a servo system to correct position deviation, so that the positions of an observation target, a laser light tip and a field of view center are kept coincident in the ranging process, and real-time checking and correction of a system receiving and transmitting optical axis is finished;
step 7: the photoelectric detector receives the reflected echo photons, converts the reflected echo photons into electric signals, transmits the electric signals to the event timer, records echo time Treturn, and obtains the time interval between the main wave and the echo pulse; and converting into an observation distance according to s=1/2 ct, and completing the whole ranging process.
Further, in the step 1, the method for adjusting the parallelism of the transmitting and receiving optical axes executes the following steps: and acquiring the central position of the system view field and the reference light positions (A0 and E0) by using a collimator method, and finishing the initial adjustment of the parallelism of the receiving optical axis of the system.
Further, the optical retroreflective means is configured to intercept at least a portion of the emitted light into the receiving system; may be one or more of a pyramid, an optical fiber, and/or a turning mirror.
Further, the laser attenuation technology may be one or more of filtering technology, neutral density filter filtering and/or polarizer filtering.
Further, the laser may be a 1064nm solid or semiconductor laser, a 1550nm solid or semiconductor laser, a 532nm solid or semiconductor laser, and/or other wavelength lasers; its repetition frequency ranges from a few Hz to thousands of Hz; the energy size ranges from a few mJ to hundreds of mJ.
A system for checking the parallelism of a receiving and transmitting optical axis of a laser ranging system comprises the laser ranging system, a star guiding system and an optical reversing device, wherein the star guiding system and the optical reversing device are arranged on the laser ranging system.
Further, the laser ranging system includes: a laser; the laser generates laser pulses; a transmitting telescope for transmitting laser pulses; a receiving telescope for receiving the reflected laser pulses; the micro-photoelectric video camera is used for collecting images of an observation target; the main wave sampling circuit is used for processing the laser pulse to form two paths of electric pulses, wherein one path of electric pulse is the main wave pulse and is used for starting an event timer; the other path is used for sampling from the time frequency standard and recording the laser emission time Tmean-pulse; the photoelectric detector is used for receiving the reflected echo photons; the time frequency system is used for providing absolute time coordinates of system operation, inputting the second pulse and UTC time of the GPS satellite system into the control computer and providing a 10MHz signal; and the control computer is used for calculating the real-time position of the observation target according to the forecast, generating an ignition signal to control the laser to emit pulses, generating a door opening signal to accurately control the distance door, controlling the shaft angle encoder and the servo control rack to ensure the normal operation of the telescope, collecting observation data, completing the correction of instrument pointing error, the calibration of system delay and the pretreatment of the observation data, and forming a standard point data file.
Further, the optical retroreflecting device can be connected with the transmitting telescope and the receiving telescope by any one of opening, adding a beam, pasting and/or suspending.
Further, the laser ranging system may be: satellite laser ranging system, space debris laser ranging system or moon laser ranging system.
By adopting the technical scheme, the invention has the following beneficial effects: the invention introduces a star guiding telescope through optical, electronic and mechanical designs, combines a laser attenuation technology and a range gate technology, and provides a large-field laser ranging system with a function of automatically checking the parallelism of a receiving and transmitting optical axis in real time. By introducing the star guiding system, the receiving view field of the system is increased, the searching and capturing speed of the observation target is improved, and the parallelism adjustment difficulty of the receiving and transmitting optical axes is reduced. Using an optical inversion device, at least a portion of the emitted light is intercepted and returned as reference light to the ICCD in the SLR receiving system, replacing the star monitoring in the prior art. And the center position of the receiving view field is adjusted by acquiring the deviation amount of the imaging position of the reference light in real time, so that the center position of the receiving view field is ensured to be unchanged. Meanwhile, the laser attenuation technology and the high-precision distance gate technology are combined to attenuate the reference light, so that the SPAD is prevented from responding to the reference light in advance, and the problems of high system false alarm rate and the like caused by the problems are avoided. In addition, by adopting a target closed-loop tracking method, the positions of the observation target, the laser light tip and the center of the field of view are kept to be highly coincident in the ranging process, so that the real-time and automatic checking of the system transceiver optical axis is realized.
Drawings
Fig. 1 is a schematic structural diagram of a large-field laser ranging system with a function of real-time automatic checking of parallelism of a receiving and transmitting optical axis, which is provided by an embodiment of the invention;
fig. 2 is a schematic structural diagram of a laser ranging system according to an embodiment of the present invention.
Detailed Description
The method of the present invention will be described in further detail with reference to the accompanying drawings.
Example 1
A method for checking parallelism of a transceiving optical axis of a laser ranging system, the method comprising the steps of:
step 1: adjusting the parallelism of the receiving and transmitting optical axes;
step 2: tracking the target according to the track forecast, and capturing the target;
step 3: the laser generates laser pulses, the laser pulses form two paths of electric pulses through the main wave sampling circuit, one path of the electric pulses is the main wave pulse and is used for starting an event timer; the other path is used for sampling from the time frequency standard and recording the laser emission time Tmean-pulse;
step 3: transmitting the laser pulse to an observation target;
step 4: intercepting part of light from the laser pulse by using an optical reversing device as reference light; the reference light is returned to the receiving system, attenuated by the laser attenuation technology and imaged to the low-light television camera;
step 5: the control computer obtains the imaging position (A1, E1) of the reference light in real time, and obtains the position offset of the reference light after the standard deviation calculation is carried out on the imaging position and the ideal position (A0, E0) Δ A， Δ E) The corrected reference light position is sent to a servo system to finish the adjustment of the center position of the field of view;
step 6: the low-light television camera acquires images of the observation targets, and the control computer converts the position deviation of the observation targets into actual off-target quantity under a measuring station coordinate system in real time; the target tracking and closing device sends the target tracking and closing device to a servo system to correct position deviation, so that the positions of an observation target, a laser light tip and a field of view center are kept coincident in the ranging process, and real-time checking and correction of a system receiving and transmitting optical axis is finished;
step 7: the photoelectric detector receives the reflected echo photons, converts the reflected echo photons into electric signals, transmits the electric signals to the event timer, records echo time Treturn, and obtains the time interval between the main wave and the echo pulse; and converting into an observation distance according to s=1/2 ct, and completing the whole ranging process.
Specifically, in the prior art, star monitoring and laser observation cannot be performed simultaneously, so that searching and capturing of the observation target position are not facilitated, and the working efficiency and performance of the system are greatly affected.
The invention combines the two functions of satellite laser ranging and system transceiver optical axis checking, and has important significance for improving the working efficiency of the system and prolonging the service life of the system.
In order to accurately determine the parallel deviation between optical axes, a laser ranging system usually adopts a time angle method to check a transceiving optical axis, namely, a star at infinity (usually a North star) is used as a sighting reference, scattered spots of the star acquired by CCD imaging and data in a spectrometer are used for processing, the deviation amount of the center of the scattered spots of the star in a telescope and the position of a field of view is detected, and the parallelism checking of the transceiving optical axis of the system is completed. The method comprises the following specific steps:
first, the center position of the field of view of the receiving system is determined by using the collimator method. The visual position of a certain star (the polar star) relative to the measuring station is calculated through an astronomical calendar, the star is aimed by the system, and the current target is observed through a CCD. When the star appears in the center of the diaphragm aperture, namely, the star image is positioned in the center of the field of view, the height, the azimuth and the moment of the star are acquired, and the center position (A 0 ，E 0 ，T 0 ). Next, a laser system is used to emit laser light, and the laser beam is imaged by the CCD through back scattering. Finally, the light point of the emitted light is overlapped with the star image by adjusting the light path. At this time, the optical axis of the emission light path is parallel to the optical axis of the laser.
If after a period of time, the system receives a change in the center position of the field of view due to the influence of factors such as the observed environment, temperature, etc. (A 1 ，E 1 ，T 1 ) The parallelism of the transmitting and receiving optical axes is reduced, and the above steps are repeated. Because the relative station position of the star (the polar star) is unchanged, the star (the polar star) is taken as a visual field central position reference, the telescope is pointed to the star again, and the receiving light path is adjusted manually or automatically, so that the current receiving visual field central position coincides with the star (the polar star) position, and the adjustment amount is as follows:
ΔA＝A 1 -A 0
ΔE＝E 1 -E 0
finally, the light point of the emitted light is overlapped with the star image by adjusting the emitted light path, so that the parallelism of the receiving and transmitting optical axes of the system is adjusted.
The method ensures the parallelism of the transceiving optical axes of the telescope of the system within a period of time and improves the pointing precision of the system. However, the above-described method has considerable limitations in application. Firstly, the parallelism of the receiving and transmitting optical axes of the telescope changes along with the real-time track of an observation target, and the star monitoring can only regulate the laser transmitting and receiving optical axes at fixed time and fixed point, so that the real-time requirement of a system cannot be met. Secondly, the constant star monitoring and the laser observation cannot be performed simultaneously, and the working efficiency and the performance of the system are greatly influenced. In order to suppress noise, the existing laser ranging system is small in receiving view field, is unfavorable for searching and capturing the position of an observation target, and is large in checking difficulty of parallelism of a receiving and transmitting optical axis of the system. Finally, in the prior art, when the central offset of the system view field is obtained, the light path is usually adjusted manually, so that the automaticity and the precision of the system are difficult to meet the performance requirement of a future laser ranging system.
In addition, patent indicates that a device for realizing real-time high-precision monitoring of laser beams by utilizing devices such as a right-angle reflecting mirror combined mirror, an acousto-optic modulator, a controllable small-hole diaphragm and the like. In the laser monitoring process, the aperture diaphragm is controlled by the acousto-optic modulator, so that light cannot pass through the aperture diaphragm to the detector, and damage to the detector is avoided. When the laser echo is reflected to the receiving system, the response delay signal is loaded on the acousto-optic modulator, so that the aperture diaphragm does not work, and the echo passes through the aperture diaphragm and the collimating mirror to the detector, thereby realizing the receiving and the detection of the echo.
Although the method can realize real-time monitoring of the emitted laser beam, the receiving and transmitting optical axis of the system cannot be effectively checked and adjusted, and the requirement of the system on real-time calibration of the parallelism of the receiving and transmitting optical axis cannot be met. Meanwhile, an acousto-optic modulator and a small aperture diaphragm are introduced, so that a system delay error is increased, and adverse effects are generated on the system ranging accuracy. In addition, the response delay signal is loaded on the acousto-optic modulator to control the aperture diaphragm, so that the design difficulty of the optical structure of the system is increased, the original simple optical path structure is complicated, and the requirements on a time-frequency system and a computer control system are increased.
Meanwhile, there is proposed a method of overlapping He-Ne red light with emission light, overlapping He-Ne red light with emission laser light by a tetrahedral prism of the emission telescope, reflecting the same to a receiving telescope by a combined tetrahedral prism of He-Ne red light parallel to the emission laser light by the emission telescope, and monitoring the He-Ne red light by a CCD to realize real-time monitoring of the emission laser light.
Similarly, the method realizes real-time monitoring of the emitted laser beam, but can not check and regulate the transceiving optical axis of the system. The superposition of two paths of light beams with different colors has certain difficulty, and the parallelism is difficult to adjust to be within +/-15 angular seconds. Meanwhile, in order to avoid damage of a narrow-band filter and a photomultiplier in the glasses and a receiving system, low-power He-Ne red light is adopted for monitoring. However, there is a certain deviation between the direction of the low-power laser beam and the direction of the high-power laser beam, which increases the difficulty of real-time high-precision monitoring of the laser beam during emission.
Example 2
On the basis of the above embodiment, in the step 1, the method for adjusting parallelism of the transceiver axis executes the following steps: and acquiring the central position of the system view field and the reference light positions (A0 and E0) by using a collimator method, and finishing the initial adjustment of the parallelism of the receiving optical axis of the system.
The collimator is mainly used for installing and adjusting optical instruments, and the parallel light beam emitted by the collimator is used for replacing a remote target and consists of an objective lens, a dividing plate arranged on the focal plane of the objective lens, a light source and ground glass arranged for enabling the dividing plate to be uniformly illuminated. According to the geometrical optics principle, since the reticle is placed on the focal plane of the objective lens, when the light source illuminates the reticle, the light emitted from each point of the reticle becomes a beam of parallel light after passing through the reticle.
The main method for calibrating the center position of the receiving field of view by the collimator is as follows: the collimator is arranged in the receiving telescope tube to emit parallel light, and the position of the SPAD adjusting frame is adjusted to ensure that the center of the aperture diaphragm arranged in front of the SPAD coincides with the position of the SPAD sensitive area, namely, the center position of the receiving view field is unchanged.
Systematic and occasional errors: there are two main types of errors for a flat telescope: systematic errors and occasional errors. The accidental errors have the influence of wind on the horizontal axis, irregular shaking of the axis, errors caused by environmental and temperature changes and the like, and the accidental errors have randomness and cannot be corrected, and can only be reduced by smoothing the measured data. The system errors include vertical difference, horizontal difference, errors caused by mechanical deformation under the action of gravity and the like, and most of the system errors can be adjusted or corrected, but residual errors remain after adjustment or correction. Due to the deviation between the pointing position of the telescope calibration and the actual position in the sky, which is caused by the existence of the above errors, a pointing error is generated.
In the production and assembly process of the optical instrument, the parallelism between the optical axes of the instrument is strictly required, the acquisition and detection accuracy of target information is determined by the consistency of the optical axes to a great extent, but is limited by the processing and installation conditions of the instrument and influenced by various surrounding environmental conditions in the use and transportation process of the instrument, the parallelism between the optical axes of the instrument changes to different degrees, and meanwhile, in order to maintain the photoelectric system in the daily use process, the parallelism of the optical axes of the whole system needs to be rapidly tested so as to calibrate. At present, the commonly used optical axis parallelism detection method mainly comprises a projection target method, a large-caliber collimator method, a small-caliber collimator method, a laser optical axis instrument method, a pentaprism method, a beam splitting projection method and the like, wherein the laboratory method is mature, but is difficult to adapt to various environmental changes in external field measurement so as to meet the requirements of testing and inspection.
Example 3
In accordance with the above embodiment, the optical retroreflective means is adapted to intercept a very small portion of the emitted light into the receiving system; may be one or more of a pyramid, an optical fiber, and/or a turning mirror.
Specifically, an optical reversing device is added to regulate and control the center of a system view field in real time. Due to the influence of system errors and observation environments, the central position of the receiving view field of the telescope shifts to a certain extent. The invention uses the optical reverse reflection device to intercept at least part of light from the emitted laser as the reference light, attenuates the reference light by the laser attenuation technology, returns to the receiving telescope along the receiving light path, and finally transmits to the low-light television camera for imaging. Imaging position of reference light by computerThe device (A, E) collects in real time, and performs the collimation difference calculation with the ideal position (A ', T') of the reference light at each moment T. If the position coincides with the ideal position, the center position of the receiving view field is not shifted; if the above-mentioned positions are not overlapped, the control computer can calculate the position deviation quantity of reference light Δ A， △ E) A. The invention relates to a method for producing a fibre-reinforced plastic composite According to the relative position relation of the imaging of the low-light television camera, the offset of the center position of the field of view is the above # Δ A， Δ E) A. The invention relates to a method for producing a fibre-reinforced plastic composite Meanwhile, the invention adopts the distance gate technology, and according to the difference of the flight time of the reference light and the laser echo, the opening/closing time of the distance gate is accurately controlled, so that the reference light is prevented from being received by the detector, the problems of high false alarm rate of the system and the like caused by the reference light are avoided, and the photoelectric device with high sensitivity of the system is protected.
In addition, the target closed-loop tracking method is adopted, so that the automaticity and the aiming precision of the system are improved. The computer makes the position deviation of the center of the visual field @ be @ Δ A， Δ E) And the feedback is fed back to a control computer, converted into actual off-target quantity (namely azimuth and height of the theodolite) of the measuring station, and sent to a servo system, so that the automatic correction of the central position of the field of view is completed, and the central position of the field of view is ensured to be relatively unchanged. Meanwhile, an observation target is captured through a star guiding system, and the target closed-loop tracking method is repeated, so that the deviation amount of the laser light tip position, the observation target position and the center of the field of view is accurately obtained. By sending the deviation to the servo system, the central positions of the observation target, the laser light tip and the field of view are kept to be highly overlapped in the ranging process, and the automatic checking of the parallelism of the optical axes of the receiving light beam and the transmitting light beam is realized.
In addition, a star guiding system is added, and the monitoring view field of the system is enlarged. Because the track precision of the observation target is low, the system error is large, the observation environment is complex, and the like, the observation target can not enter a telescope receiving sensitive area sometimes, and the system can not acquire effective observation data. In order to solve the problems, the invention installs a star guiding mirror outside the lens cone of the receiving telescope in the direction parallel to the lens cone. Further, the monitoring view field of the system is enlarged, the speed of searching and observing the target is improved, the target searching time is reduced, the target observing time is increased, the working efficiency of the system is improved, and the method is very beneficial to acquiring more observed data.
Example 4
Based on the above embodiment, the laser attenuation technology may be one or more of filtering technology, neutral density filtering, and/or polarizer filtering.
Example 5
Based on the above embodiment, the laser may be a 1064nm solid state or semiconductor laser, a 1550nm solid state or semiconductor laser, a 532nm solid state or semiconductor laser, and/or other wavelength lasers; the repetition frequency ranges from a few Hz to thousands of Hz; the energy size ranges from a few mJ to hundreds of mJ.
Example 6
A system for checking the parallelism of a receiving and transmitting optical axis of a laser ranging system comprises the laser ranging system, a star guiding system and an optical reversing device, wherein the star guiding system and the optical reversing device are arranged on the laser ranging system.
Example 7
On the basis of the above embodiment, the laser ranging system includes: a laser; the laser generates laser pulses; a transmitting telescope for transmitting laser pulses; a receiving telescope for receiving the reflected laser pulses; the low-light television camera is used for collecting images of an observation target; the main wave sampling circuit is used for processing the laser pulse to form two paths of electric pulses, wherein one path of electric pulse is the main wave pulse and is used for starting an event timer; the other path is used for sampling from the time frequency standard and recording the laser emission time Tmean-pulse; the photoelectric detector is used for receiving the reflected echo photons; the time frequency system is used for providing absolute time coordinates of system operation, inputting the second pulse and UTC time of the GPS satellite system into the control computer and providing a 10MHz signal; the control computer is used for calculating the real-time position of the observation target according to the forecast, generating an ignition signal to control the laser to emit pulses, generating a door opening signal to accurately control the distance door, controlling the shaft angle encoder and the servo control rack to ensure that the telescope normally operates, collecting observation data, finishing correction of instrument pointing error, calibration of system delay, preprocessing of the observation data and forming a standard point data file.
Example 8
On the basis of the above embodiment, the optical retroreflective device may connect the transmitting telescope and the receiving telescope by means of any one of opening, adding a transverse beam, sticking and/or suspending.
Example 9
Based on the above embodiment, the laser ranging system may be: satellite laser ranging system, space debris laser ranging system or moon laser ranging system.
Example 10
Taking a Changchun station SLR system as an example, a transmitting telescope is a telescope with the caliber of 21cm, a receiving telescope is a telescope with the caliber of 60cm, and the system adopts a receiving and transmitting separation light path; the laser single pulse energy is about 1mJ; the emission frequency is 1KHz; the laser wavelength is 532nm; the efficiency of the laser emission system is 0.6; laser energy pulse width is 50ps; the emitted beam is directed at a deviation of 5%.
In accordance with the present disclosure, we will incorporate an optical retroreflective device into the system. The transmitting telescope and the receiving telescope are communicated, the cross beam is added, a pyramid is respectively arranged at two ends of the cross beam (in the transmitting telescope lens barrel and the receiving telescope lens barrel), little light is intercepted in the transmitting light and is used as reference light to return to the receiving system, the laser attenuation technology is adopted to attenuate the light, and damage to high-sensitivity photoelectric devices in the system is avoided. Meanwhile, as the flight time of the reference light is different from that of the laser echo, the SPAD is prevented from responding to the reference light by adopting a distance gate technology, and the problems of high false alarm rate of the system and the like caused by the response are avoided.
Illustrated with the observation target Compass-15. Compass-15 is the most orbiting artificial geosynchronous satellite currently used as a target for International Union measurement, with an orbit height of about 3.6X10 4 km, a round of observation time is about 6 to 18 hours. Because the single observation time is longer, the parallelism of the system transceiver optical axis is affected by factors such as the observation environment, temperature, wind speed and the like. Especially in daytime laser ranging, after the telescope is irradiated by too much sunlight, the lens barrel is arranged in all directionsThe receiving view field is not uniformly heated and will deform, so that the central position of the receiving view field is deviated, and the parallelism of the receiving and transmitting optical axes is seriously deteriorated.
Specifically, in the prior art, the SLR system usually adopts fixed star to monitor and calibrate the central position of the field of view and the parallelism of the receiving and transmitting optical axes of the adjusting system, but the method can only check the central position at the timing and fixed point position and has quite large limitation.
The method has no limit to the requirements of the observation time, the observation position and the observation environment, and meets the requirements of the satellite laser ranging process on real-time performance and randomness.
Specifically, in the prior art, the receiving field of view of the SLR system is smaller, and the parallelism of the receiving and transmitting optical axes of the system is more difficult to check.
The invention increases the receiving view field of the system, reduces the difficulty coefficient of adjustment, improves the speed of searching and capturing the observation target, and improves the pointing precision of the system.
In the prior art, an acousto-optic modulator and a small aperture diaphragm are adopted to prevent reference light from being transmitted to a detector, but the introduction of a new device increases system errors, reduces ranging precision, and simultaneously, has higher requirements on control systems, servo systems and optical structural designs.
The invention adopts the distance gate technology to effectively avoid the problems.
In the prior art, red light is adopted to monitor the emitted laser, however, the parallelism of two paths of light beams with different colors is difficult to ensure, and the difficulty of monitoring the emitted light beams in real time and with high precision is increased.
The invention uses the optical reverse device to intercept the light from the original light to be used as the reference light, thus ensuring the parallelism, polarization degree and pointing accuracy of the two beams of light.
In the prior art, after the offset of the center position of the receiving view field is obtained, the light path is usually adjusted in a manual mode, and the automaticity and the precision of the offset are difficult to meet the performance requirement of a laser ranging system.
The invention realizes the functions of real-time automatic calculation of the offset of the center position of the receiving view field, real-time automatic calibration of the parallelism of the receiving and transmitting optical axes of the system and the like by utilizing a target tracking and closing method, and provides reasonable design schemes and ideas for the subsequent full-scale realization of SLR systems.
In the prior art, the receiving and transmitting optical axis offset error can only be checked at fixed points at fixed time, and the marking effect and adjustment can not be effectively and accurately performed in real time, so that the method has quite large limitations and difficulty. Moreover, as the servo system can only guide the telescope to point to an observation target or the polar star, the laser ranging and the optical axis adjustment cannot be performed simultaneously, and the working efficiency and the service life of the system are greatly influenced. In addition, after the system obtains the offset of the center position of the receiving view field, the light path is usually adjusted manually, and the automaticity and the precision of the system are difficult to meet the performance requirement of the laser ranging system.
In order to solve the problems, the invention introduces a star guiding telescope through optical, electronic and mechanical designs, combines a laser attenuation technology and a range gate technology, and provides a large-view-field laser ranging system with a function of automatically checking the parallelism of a receiving and transmitting optical axis in real time. By introducing the star guiding system, the receiving view field of the system is increased, the searching and capturing speed of the observation target is improved, and the parallelism adjustment difficulty of the receiving and transmitting optical axes is reduced. Using an optical inversion device, a very small portion of the emitted light is intercepted and returned as reference light to the ICCD in the SLR receiving system, replacing the star monitoring in the prior art. And the central position of the receiving view field is adjusted by acquiring the deviation of the reference light imaging position in real time, so that the central position of the receiving view field is ensured to be unchanged. Meanwhile, the laser attenuation technology and the high-precision distance gate technology are combined to attenuate the reference light, so that the SPAD is prevented from responding to the reference light in advance, and the problems of high system false alarm rate and the like caused by the problems are avoided. In addition, by adopting a target closed-loop tracking method, the central positions of an observation target, a laser light tip and a field of view are kept to be highly coincident in the ranging process, so that the real-time and automatic checking of a system transceiving optical axis is realized.
Example 11
Taking a vinca station space Debris Laser Ranging (DLR) system as an example, the transmitting telescope is a telescope with the caliber of 21cm, and the receiving telescope is a telescope with the caliber of 60 cm; the laser single pulse energy is about 60mJ; the radio frequency is 500Hz; the laser wavelength is 532nm; the divergence angle is 04mrad; the pulse width of the laser energy is 10ns.
In accordance with the present disclosure, we will incorporate an optical retroreflective device into the system. The transmitting telescope and the receiving telescope are communicated, the cross beam is added, a pyramid is respectively arranged at two ends of the cross beam (in the transmitting telescope lens barrel and the receiving telescope lens barrel), little light is intercepted in the transmitting light and is used as reference light to return to the receiving system, the laser attenuation technology is adopted to attenuate the light, and damage to high-sensitivity photoelectric devices in the system is avoided. Meanwhile, as the flight time of the reference light is different from that of the laser echo, the SPAD is prevented from responding to the reference light by adopting a distance gate technology, and the problems of high false alarm rate of the system and the like caused by the response are avoided.
Illustrated with the observation target SL-12R/B. The space debris SL-12R/B, the track height is about 10463km, and the reflection section RCS is 0.7m 2 The echo index was 5.7 and the maximum elevation angle was 69 °. Because the single observation time is longer, the parallelism of the system transceiver optical axis is affected by factors such as the observation environment, temperature, wind speed and the like.
In summary, the invention provides a large-field laser ranging system with a function of automatically checking parallelism of a receiving and transmitting optical axis in real time. Unlike available laser distance measuring system, the present invention introduces star guiding system to expand the monitoring field of view. By combining the laser attenuation technology and the range gate technology, the optical retroreflection device is utilized to intercept at least part of light as reference light in the emitted light to calibrate the center position of the video field, and simultaneously, the target tracking closed-loop method is utilized to realize real-time automatic calibration of the parallelism of the receiving and transmitting optical axes of the system. The function of receiving and transmitting optical axes of the automatic adjustment system is considered in the single laser ranging process, the pointing precision of the laser ranging system is effectively improved, the echo rate and the working efficiency of the system are improved, and the method has important significance for the laser ranging technology to the full-automatic era.
It will be clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the system described above and the related description may refer to the corresponding process in the foregoing method embodiment, which is not repeated here.
It should be noted that, in the system provided in the foregoing embodiment, only the division of the foregoing functional modules is illustrated, in practical application, the foregoing functional allocation may be performed by different functional modules, that is, the modules or steps in the foregoing embodiment of the present invention are further decomposed or combined, for example, the modules in the foregoing embodiment may be combined into one module, or may be further split into multiple sub-modules, so as to complete all or part of the functions described above. The names of the modules and steps in the embodiments of the present invention are merely for distinguishing each module or step, and are not considered as undue limitations of the present invention.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the storage device and the processing device described above and the related description may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
Those of skill in the art will appreciate that the various illustrative modules, method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, upper computer 7 software, or combinations of both, and that the program(s) corresponding to the software modules, method steps, or steps may be embodied in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art. To clearly illustrate this interchangeability of electronic hardware and software, various illustrative components and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as electronic hardware or software depends upon the particular application and design constraints imposed on the solution. Those skilled in the art may implement the described functionality using different approaches for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The terms "first," "second," and the like, are used for distinguishing between similar objects and not for describing a particular sequential or chronological order.
The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus/apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus/apparatus.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will fall within the scope of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention.
Claims (9)
1. A method for checking the parallelism of a receiving and transmitting optical axis of a laser ranging system is characterized by comprising the following steps:
step 1: adjusting the parallelism of the receiving and transmitting optical axes;
step 2: tracking the target according to the track forecast, and capturing the target;
step 3: the laser generates laser pulses, the laser pulses form two paths of electric pulses through the main wave sampling circuit, one path of the electric pulses is the main wave pulse and is used for starting an event timer; the other path is used for sampling from the time frequency standard and recording the laser emission time Tmean-pulse;
step 3: transmitting the laser pulse to an observation target;
step 4: intercepting part of light from the laser pulse by using an optical reversing device as reference light; the reference light is returned to the receiving system, attenuated by the laser attenuation technology and imaged to the low-light television camera;
step 5: the control computer acquires reference light imaging positions (A1, E1) in real time, calculates an alighting difference with ideal positions (A0, E0) to acquire reference light position offset (delta A, delta E), and sends the reference light position offset to the servo system to correct the reference light position to finish the adjustment of the center position of the field of view;
step 6: the low-light television camera acquires images of the observation targets, and the control computer converts the position deviation of the observation targets into actual off-target quantity under a measuring station coordinate system in real time; the target tracking and closing system sends the target tracking and closing system to correct the position deviation, so that the real-time checking of the receiving and transmitting optical axis of the system is completed;
step 7: the photoelectric detector receives the reflected echo photons, converts the reflected echo photons into electric signals, transmits the electric signals to the event timer, records echo time Treturn, and obtains the time interval between the main wave and the echo pulse; and converting into an observation distance according to s=1/2 ct, and completing the whole ranging process.
2. The method according to claim 1, wherein in the step 1, the method for adjusting parallelism of the transmission and reception optical axes performs the steps of: and acquiring the central position of the system view field and the reference light positions (A0 and E0) by using a collimator method, and finishing the initial adjustment of the parallelism of the receiving optical axis of the system.
3. The method of claim 1, wherein the optical retroreflective means is configured to intercept a minimal portion of the emitted light from the emitted light into the receiving system; may be one or more of a pyramid, an optical fiber, and/or a turning mirror.
4. The method of claim 1, wherein the laser attenuation technique is one or more of a filtering technique, a neutral density filter filtering, and/or a polarizer filtering.
5. The method of claim 1, wherein the laser may be a 1064nm solid or semiconductor laser, 1550nm solid or semiconductor laser, 532nm solid or semiconductor laser and/or other wavelength lasers; the repetition frequency ranges from a few Hz to thousands of Hz; the energy size ranges from a few mJ to hundreds of mJ.
6. A system for checking the parallelism of the transceiving optical axes of a laser ranging system based on the method of one of claims 1 to 5, which is characterized by comprising a laser ranging system, a star guiding system and an optical reversing device, wherein the star guiding system and the optical reversing device are arranged on the laser ranging system.
7. The system of claim 6, wherein the laser ranging system comprises: a laser; the laser generates laser pulses; a transmitting telescope for transmitting laser pulses; a receiving telescope for receiving the reflected laser pulses; the low-light television camera is used for collecting images of an observation target; the main wave sampling circuit is used for processing the laser pulse to form two paths of electric pulses, wherein one path of electric pulse is the main wave pulse and is used for starting an event timer; the other path is used for sampling from the time frequency standard and recording the laser emission time Tmean-pulse; the photoelectric detector is used for receiving the reflected echo photons; the time frequency system is used for providing absolute time coordinates of system operation, inputting the second pulse and UTC time of the GPS satellite system into the control computer and providing a 10MHz signal; and the control computer is used for calculating the real-time position of the observation target according to the forecast, generating an ignition signal to control the laser to emit pulses, generating a door opening signal to precisely control the distance door, controlling the shaft angle encoder and the servo control rack to ensure the normal operation of the telescope, collecting observation data, completing the correction of the pointing error of the instrument, the calibration of the system delay and the preprocessing of the observation data, and forming a standard point data file.
8. The system of claim 6, wherein the optical retroreflective means is adapted to connect the transmitting telescope and the receiving telescope by any one of opening, adding a beam, attaching and/or suspending.
9. The system of claim 8, wherein the laser ranging system may be: satellite laser ranging system, space debris laser ranging system or moon laser ranging system.
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| CN111239712A (en) * | 2020-01-20 | 2020-06-05 | 炬佑智能科技(苏州)有限公司 | Depth camera calibration and evaluation environment system |
| CN112648887B (en) * | 2020-12-16 | 2022-08-16 | 航天科工微电子系统研究院有限公司 | Photoelectric tracking and control method based on common-frame radar composite detection |
| CN113328793A (en) * | 2021-06-17 | 2021-08-31 | 西北核技术研究所 | Remote optical fiber transmission delay testing method and system based on time domain reflection difference |
| CN113608186B (en) * | 2021-09-13 | 2023-10-20 | 中国工程物理研究院应用电子学研究所 | Calibration method of radar system and photoelectric imaging system |
| CN114296049B (en) * | 2021-12-31 | 2024-07-19 | 长春理工大学 | Microbead cooperative target laser radar scattering cross section measuring device and method |
| CN117348017B (en) * | 2023-10-10 | 2024-03-29 | 中国科学院云南天文台 | Distributed space debris laser ranging system |
| CN117848354B (en) * | 2024-03-07 | 2024-05-31 | 长春理工大学 | Space target multi-mode information fusion photoelectric detection positioning and orbit determination device and method |
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