CN101672641B - Optical precision tracking detector based on double four-quadrant detector - Google Patents
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Abstract
The utility model provides an optics precision tracking detector based on two four-quadrant detector, includes imaging lens, the holophote of center trompil, dynamic range matched lens, precision matched lens, dynamic range four-quadrant detector and precision four-quadrant detector, its characterized in that: the full-reflection mirror with a central hole is used for combining the large-dynamic-range wave surface inclination detection unit and the high-precision wave surface inclination detection unit together, and the inclination tracking detector processor directly recovers the inclination angle or the inclination direction of the target wave front by using a nested four-quadrant light spot centroid algorithm. The invention can realize the detection of the target wavefront with large dynamic range and high precision only by one path of light input, improves the signal-to-noise ratio and simplifies the system structure compared with the traditional scheme adopting two sets of tilt tracking detectors, has simple wavefront tilt recovery algorithm and easy realization in process, and provides conditions for detecting the weak target wavefront tilt with high precision and high frame frequency.
Description
Technical field
The present invention relates to a kind of optical precision inclination tracking detector, particularly a kind ofly can be applied in a kind of optical precision tracking detector that has great dynamic range, high detection accuracy and high frame frequency characteristics in star-ground optical communication based on the double four quadrant photoelectric detector based on 4 quadrant detector.
Background technology
Star-ground optical communication is meant and utilizes laser beam to be carrier, sets up the optical communication link between satellite and ground.Compare with the microwave communication of generally adopting at present, star-ground optical communication has that message capacity is big, system dimension and weight is little, strong security, electromagnetic interference (EMI) is few and advantage such as bandwidth.Therefore, many countries have all dropped into the research that huge financial resources, man power and material are carried out star-ground optical communication.Wherein Japan utilizes the ETS-VI system successfully to finish laser communication test between star-ground July nineteen ninety-five first, has proved the feasibility of laser communication between star-ground.Star-flash of light preceding an earthquake communication demonstration machine OCD (the Optical Communications Demonstrator) data transmission rate of the jet power laboratory JPL of the U.S. (Jet Propulsion Lab) development can reach 250Mbps, U.S. BMDO estimates that in the common STRV2 star of subsidizing in space and missile defence headquarter-ground laser communication plan setting up distance between low-orbit satellite and fixed charge method earth station is 2000km, and data transmission rate is the optical communication link of 1Gbps.The GEO satellite AREMIS of the ESA of the European Space Agency development in Europe is in emission in 2000, and an optical link wherein can be realized satellite and communicating by letter between between the land station on Canary island.
(Pointing) technology is to need one of core technology that breaks through in star-ground optical communication to ATP for Acquisition, Tracking, and the ATP system is made up of inclination tracker, control module and driver element.System is when work, the inclination tracking detector can be in real time provides tilt quantity before the object wave for control module, the tilt quantity of control module before according to object wave calculates needs and is loaded into voltage on the driver element, driver element rotates certain angle and direction under the effect of voltage, the measured target during thereby the entrance pupil that makes system can be aimed in real time and move is (referring to " optical laying and automatic tracking system design ", Xia Jiangtao, electric light and control, the 16th 5 phases of volume, the 74th page-77 pages, in May, 2009).
In the ATP system of star-ground optical communication, because light transmission need be passed through this accidental channel of atmosphere, be subjected to the atmospheric turbulence low order to differ influence with satellite motion, the hot spot of arrival system on a large scale randomized jitter (referring to " bias light and atmospheric turbulence receive the influence that hot spot produces to vacant lot laser communication ", Li Xiaofeng, Hu Yu, wireless light communication, the 22nd page-24 pages, 2004 10 phases), simultaneously, in star-ground optical communication, be subjected to the influence of spacecraft load-carrying, the emissive power of laser signal is limited on the satellite, after the propagation in atmosphere through growing distance, atmosphere is understood scattering and is sponged most of luminous energy (referring to " conceptual design of Air-Ground optical communication system and gordian technique are decomposed and channel simulator ", Liu Shuhua, University of Electronic Science and Technology's master thesis, 2002), in order to guarantee the unimpeded of star-ground optical communication link, the lean forward unit-inclination tracking detector that provides of gradient of object wave must have great dynamic range in the ATP system, high detection accuracy, characteristics such as high sensitivity and high frame frequency.
The inclination tracking detector generally is made up of imaging len, electrooptical device and wavetilt processor.Be incident upon after imaging len compiles from the light signal of target on the photosurface of electrooptical device and form the target hot spot, when object wave leans forward the gradient change, the target hot spot moves on the photosurface of electrooptical device, light energy distribution changes on the photosurface, at this moment, the wavetilt processor can calculate the centroid position of target hot spot according to the photosignal of electrooptical device output, thereby calculates the tilt quantity before the object wave.At present CCD cameras, CMOS camera or the 4 quadrant detectors of adopting of electrooptical device more, wherein CCD camera low read frame frequency drawbacks limit its application in high frame frequency is surveyed; Drawbacks limit such as the big noise of CMOS camera and low lightsensitivity its application in weak light detection; And the 4 quadrant detector photosurface only has four quadrants, be subjected to the influence in dead band, can't realize simultaneously that great dynamic range and high-precision detection are (referring to " performance of Photon Counting photomultiplier four-quadrant type and low light level image intensifying CCD tracker relatively ", Rao Changhui, Zhang Xuejun, Jiang Wenhan, Tang Guomao, optics journal, the 22nd 1 phase of volume, the 67th page-73 pages, 2002 1 phases).
Requirements such as great dynamic range, high detection accuracy, high sensitivity and high frame frequency for the inclination tracking detector system that guarantees ATP system in star-ground optical communication, the at present employing set up two covers independently based on the scheme of the inclination tracking detector of 4 quadrant detector more: a cover inclination tracking detector is used to the dynamic range that guarantees that tracking is surveyed, is applicable to thick tracking; Another set of inclination tracking detector is used to guarantee the precision that tracking is surveyed, and is applicable to the meticulous tracking after the thick track and localization.Yet two overlap the tracking detector that independently tilts need import two ways of optical signals, has reduced the signal to noise ratio (S/N ratio) of single cover inclination tracking detector; And when tracking detector that two covers are independently tilted is used for the ATP system, the wavetilt signal demand of control module switches in two cover inclination tracking detectors, the complexity that has increased the ATP system control unit is (referring to " space optical communication link beam-capturing, aligning, tracking technique and digitalized artificial ", Liu Shuhua, University of Electronic Science and Technology's master thesis, 2002).
For the sensitivity that improves ATP system in star-ground optical communication, the complexity that reduces the ATP system control unit, how two covers independently are incorporated into together based on the inclination tracking detector of 4 quadrant detector, only import the single channel light signal, just can realize the tilt quantity before great dynamic range, high detection accuracy, high sensitivity and high frame frequency ground detect object wave, for the inclination tracking detector of ATP system in star-ground optical communication provides the core solution, just become a very important research project.
Summary of the invention
The technical problem to be solved in the present invention is: overcome the deficiencies in the prior art, a kind of optical precision tracking detector with great dynamic range, high detection accuracy is provided.
The technical solution adopted for the present invention to solve the technical problems is: a kind of optical precision tracking detector based on the double four quadrant photoelectric detector, it is characterized in that: comprise imaging len, the completely reflecting mirror of center drilling, the dynamic range matched lenses, the Accuracy Matching lens, dynamic range 4 quadrant detector and precision 4 quadrant detector, imaging len, dynamic range matched lenses and dynamic range 4 quadrant detector have constituted dynamic range wave tilt probe unit imaging len, Accuracy Matching lens and precision 4 quadrant detector have constituted precision wave tilt probe unit, dynamic range wave tilt probe unit and high precision wave tilt probe unit combine by the completely reflecting mirror of center drilling, when the pitch angle before the object wave during greater than the dynamic range of precision 4 quadrant detector, the hot spot that forms by imaging len before the object wave can be by the reflection of the completely reflecting mirror of center drilling after the dynamic range matched lenses be coupled into the direction of probing wave face tilt in the dynamic range 4 quadrant detector, when the pitch angle before the object wave during less than the dynamic range of precision 4 quadrant detector, the central small hole of the hot spot that forms by imaging len before the object wave by the completely reflecting mirror of center drilling be after the Accuracy Matching Lens Coupling enters the accurate angle of probing wave face tilt in the precision 4 quadrant detector, and inclination tracking detector processor utilizes nested four-quadrant facula mass center algorithm that the output signal of dynamic range 4 quadrant detector and precision 4 quadrant detector is restored to be vergence direction before the object wave or angle of inclination.
The center of the completely reflecting mirror of described center drilling overlaps with the focus of imaging len; The focal plane of reflecting surface and imaging len angle at 45.
Described nested four-quadrant facula mass center (x
c, y
c) computing formula of algorithm is:
I wherein
1, I
2, I
3, I
4And i
1, i
2, i
3, i
4Be respectively the output signal of dynamic range 4 quadrant detector and each quadrant of precision 4 quadrant detector, object wave preceding angle of inclination or vergence direction α in the x direction
xWith angle of inclination or the vergence direction α on the y direction
yComputing formula be respectively:
Wherein f is the focal length of imaging len, works as x
cDuring ∈ (1 ,+1), α
xX is worked as at angle of inclination before the expression object wave on the x direction of principal axis
c=± 1 o'clock, α
xPositive and negative positive and negative corresponding to the vergence direction on the x axle before the object wave; In like manner, work as y
cDuring ∈ (1 ,+1), α
yThe expression object wave before angle of inclination on the y direction of principal axis, work as y
c=± 1 o'clock, α
yPositive and negative positive and negative corresponding to the vergence direction on the y direction of principal axis before the object wave.
The present invention compared with prior art has following advantage:
(1) traditional inclination tracking detector is subjected to the restriction of electrooptical device, can't satisfy star-ground optical communication medium wave top rake detector and must have great dynamic range, high detection accuracy, characteristics such as high sensitivity and high frame frequency, if adopt two to overlap the tracking detector that independently tilts, need the input two ways of optical signals, reduced the signal to noise ratio (S/N ratio) of every cover inclination tracking detector, and increased and tilted to follow the tracks of to survey the complexity of calculating, the present invention utilizes the completely reflecting mirror of a center drilling that probe unit is followed the tracks of in the inclination of great dynamic range and high precision inclination tracking probe unit combines, only import the single channel light signal, just can realize when the inclination before the object wave is big the vergence direction of great dynamic range ground detection of a target wavefront; Inclination before object wave hour, the angle of inclination of detection of a target wavefront accurately, 4 quadrant detector has guaranteed the high sensitivity and the high-precision characteristics of inclination tracking detector simultaneously.
(2) the present invention utilizes the output result of two 4 quadrant detectors in the nested 4 quadrant detector analogue means, each quadrant of nested 4 quadrant detector is output as the output sum of two corresponding quadrants of 4 quadrant detector, compare with the wavetilt algorithm of setting up two cover inclination tracking detectors, wavetilt algorithm of the present invention is simple, so when this inclination tracking detector is used for the ATP system, can reduce the complexity of system, help further improving the frequency and the precision of ATP system keeps track.
Description of drawings
Fig. 1 is a synoptic diagram of the present invention;
Fig. 2 is for utilizing two 4 quadrant detector output of nested 4 quadrant detector simulation synoptic diagram among the present invention;
Fig. 3 is a focal plane place facula position synoptic diagram;
Fig. 4 is the detecting error curve map (quantum efficiency of 4 quadrant detector is 15%) of embodiment of the invention medium dip tracking detector.
Among the figure: 1: imaging len, 2: the dynamic range 4 quadrant detector, 3: the dynamic range matched lenses, 4: the completely reflecting mirror of center drilling, 5: the Accuracy Matching lens, 6: the precision 4 quadrant detector, 7: the hot spot that the object wave top rake forms behind imaging len during less than the dynamic range of precision 4 quadrant detector, 8: the focal plane of imaging len, 9: the hot spot that the object wave top rake forms behind imaging len during greater than the dynamic range of precision 4 quadrant detector, 10: the hot spot that folded light beam forms, 11: before the object wave, 12: inclination tracking detector processor, 13: the hot spot on the precision 4 quadrant detector photosurface, 14: the hot spot on the dynamic range 4 quadrant detector photosurface.
Embodiment
The present invention includes completely reflecting mirror 4, Accuracy Matching lens 5, the precision 4 quadrant detector 6 of imaging len 1, dynamic range 4 quadrant detector 2, dynamic range matched lenses 3, center drilling.Wherein, dynamic range 4 quadrant detector 2 and precision 4 quadrant detector 6 can adopt target surface and the bigger 4 quadrant detector based on APD of skip distance, to improve the responding ability to the low light level; And the method for making of the completely reflecting mirror 4 of center drilling is to utilize the ultrasonic drilling technology to accomplish fluently satisfactory aperture earlier on glass substrate, again to glass substrate plating reflectance coating.Imaging len 1, dynamic range 4 quadrant detector 2, dynamic range matched lenses 3 are formed dynamic range wave tilt probe unit; Imaging len 1, Accuracy Matching lens 5, precision 4 quadrant detector 6 are formed precision wave tilt probe unit.
When before the object wave 11 seeing through imaging len 1 after, its imaging facula can off-focal.The present invention utilizes just that the hot spot 9 through forming behind the imaging len 1 can be than the hot spot 7 that forms during less than the dynamic range of precision 4 quadrant detector 6 when the object wave top rake more away from the characteristic of focus during greater than the dynamic range of precision 4 quadrant detector 6 when 11 pitch angle before the object wave behind imaging len, place the completely reflecting mirror 4 of a center drilling at the focus place of imaging len 1, the center of the completely reflecting mirror 4 of center drilling overlaps with the focus of imaging len 1, the reflecting surface of the completely reflecting mirror 4 of center drilling and the focal plane of imaging len 8 angles at 45.When 11 pitch angle before the object wave during greater than the dynamic range of precision 4 quadrant detector 6, the light beam that converges to imaging facula 9 will be reflected by the reflecting surface of the completely reflecting mirror 4 of center drilling, form real hot spot or vignette spot 10, when hot spot 10 is coupled into 11 pitch angle before the direction object wave that detection of a target wavefront in the dynamic range 4 quadrant detector 2 11 tilts less than the dynamic range of precision 4 quadrant detector 6 by dynamic range matched lenses 3, converge to the central small hole of the completely reflecting mirror 4 that the light beam of imaging facula 7 can be by center drilling, hot spot 7 is coupled in the precision 4 quadrant detector 6 the accurately angle of inclination of detection of a target wavefront 11 by Accuracy Matching lens 5.
The effect of Accuracy Matching lens 5 is that the hot spot 7 that the object wave top rake is formed behind imaging len during less than the dynamic range of precision 4 quadrant detector amplifies, with the dead band of reducing precision 4 quadrant detector 6 influence, guarantee the detected with high accuracy of 6 pairs of object waves of precision 4 quadrant detector preceding 11 to detection accuracy.
The effect of dynamic range matched lenses 3 is that the folded light beam with the completely reflecting mirror 4 of center drilling is coupled in the photosurface of dynamic range 4 quadrant detector 2, dynamic range 4 quadrant detector 2 can leave the imaging surface of dynamic range matched lenses 3 a little, thereby increase the diameter of the hot spot 14 on dynamic range 4 quadrant detector 2 photosurfaces, reduce of the influence of the dead band of dynamic range 4 quadrant detector 2 detection accuracy.
Because the light path parameter of this inclination tracking detector is identical in the x and y direction, so present embodiment is only discussed the situation of wavetilt on the x direction, the situation of y direction is similar in this.
Follow the tracks of detection owing to be based on the inclination of 4 quadrant detector, when two independent 4 quadrant detectors are regarded as nested 4 quadrant detector (as shown in Figure 2), facula mass center x on the x direction
cComputing formula be:
I
1, I
2, I
3, I
4And i
1, i
2, i
3, i
4It is respectively the output signal (as shown in Figure 2) of dynamic range 4 quadrant detector 2 and each quadrant 6 of precision 4 quadrant detector.
11 angle of inclination or vergence direction α before the object wave on the x direction of principal axis
xComputing formula be:
Wherein: f is the focal length of imaging len.
Notice that when 11 pitch angle before the object wave during greater than the dynamic range of precision 4 quadrant detector 6, imaging facula is concentrated in positive axis or negative semiaxis, the then x of x axle
c=1 or x
c=-1, thus this moment α
xValue can only point out the vergence direction of object wave preceding 11; When 11 pitch angle before the object wave during greater than the dynamic range of precision 4 quadrant detector 6, imaging facula can be across the positive axis and the negative semiaxis of x axle, and can draw the inclined angle alpha of the object wave that has detecting error preceding 11 this moment
x
Because the photosurface of precision 4 quadrant detector 6 exists the dead band, in order to guarantee the precision of centroid detection, Gauss's width of the hot spot 13 on precision 4 quadrant detector photosurface must be greater than skip distance, and the computing formula of Gauss's width is:
Wherein, k is a positive constant, k=0.431 when imaging lens 1 pupil is circular hole, k=0.353 when imaging lens 1 pupil is square hole; D is the clear aperture of imaging len 1;
It is the mean wavelength that enters system's light wave.
When 11 pitch angle before the object wave during less than the dynamic range of precision 4 quadrant detector 6; Imaging facula is surveyed the inclination of wave front detecting error E of this moment with respect to the displacement of focus by precision 4 quadrant detector 6
θComputing formula be:
Wherein, SNR
vThe signal to noise ratio (S/N ratio) of expression system, when only there is photon noise in system,
D is the clear aperture of imaging len 1;
It is the mean wavelength that enters system's light wave.
When the hot spot 9 that 11 pitch angle before the object wave form behind imaging len 1 during greater than the dynamic range of precision 4 quadrant detector 6 is surveyed by dynamic range 4 quadrant detector 2 with respect to the direction of the displacement of focus, this moment, imaging facula was in the positive axis or the negative semiaxis (as shown in Figure 3) of x axle fully, and the detecting error of wavetilt is 0.
When the photosurface length of side of precision 4 quadrant detector 6 and dynamic range 4 quadrant detector 2 all is that the clear aperture of 18mm, imaging len 1 is that the focal length of 50mm, imaging len 1 is that the magnification of 3000mm, Accuracy Matching lens 5 is that 12 times, the minification of dynamic range matched lenses 3 are that Gauss's width of 22 times and precision 4 quadrant detector 6 place's hot spots is when being 0.5mm, the dynamic range of this inclination tracking detector is [4 ° ,+4 °].Fig. 4 is when preceding 11 pitch angle of object wave during less than the dynamic range of precision 4 quadrant detector 6, the detecting error curve of this wave tilt detector, as can be seen, when arriving photon number is 10000, the quantum efficiency of precision 4 quadrant detector 6 is 15% o'clock, about 0.035 rad of the detecting error of wave tilt.
What from present embodiment as can be seen, the present invention tilted tracking detector can survey angle of inclination near the low light level wavefront of plane wave really accurately under the condition that guarantees great dynamic range ground detection of a target wavetilt direction.
The content that the present invention does not elaborate is those skilled in the art's common practise.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (3)
1. optical precision tracking detector based on the double four quadrant photoelectric detector, it is characterized in that: comprise imaging len (1), the completely reflecting mirror of center drilling (4), dynamic range matched lenses (3), Accuracy Matching lens (5), dynamic range 4 quadrant detector (2), precision 4 quadrant detector (6) and inclination tracking detector processor (12), imaging len (1), dynamic range matched lenses (3) and dynamic range 4 quadrant detector (2) have constituted dynamic range wave tilt probe unit, imaging len (1), Accuracy Matching lens (5) and precision 4 quadrant detector (6) have constituted precision wave tilt probe unit, dynamic range wave tilt probe unit and precision wave tilt probe unit combine by the completely reflecting mirror (4) of center drilling, when the pitch angle of (11) before the object wave during greater than the dynamic range of precision 4 quadrant detector (6), the hot spot (9) that (11) form by imaging len (1) before the object wave is reflected by the completely reflecting mirror of center drilling (4) after dynamic range matched lenses (3) is coupled into the direction of probing wave face tilt in the dynamic range 4 quadrant detector (2), when the pitch angle of (11) before the object wave during less than the dynamic range of precision 4 quadrant detector (6), the central small hole of the hot spot (7) that (11) form by imaging len (1) before the object wave by the completely reflecting mirror (4) of center drilling be after Accuracy Matching lens (5) are coupled into the accurate angle of probing wave face tilt in the precision 4 quadrant detector (6), and it is the vergence direction or the angle of inclination of (11) before the object wave that inclination tracking detector processor (12) utilizes nested four-quadrant facula mass center algorithm that the output signal of dynamic range 4 quadrant detector (2) and precision 4 quadrant detector (6) is restored.
2. a kind of optical precision tracking detector based on the double four quadrant photoelectric detector according to claim 1 is characterized in that: the center of the completely reflecting mirror of described center drilling (4) overlaps with the focus of imaging len (1); Focal plane (8) angle at 45 of the reflecting surface of the completely reflecting mirror of center drilling (4) and imaging len (1).
3. a kind of optical precision tracking detector based on the double four quadrant photoelectric detector according to claim 1 is characterized in that: described nested four-quadrant facula mass center (x
c, y
c) computing formula of algorithm is:
I wherein
1, I
2, I
3, I
4And i
1, i
2, i
3, i
4Be respectively the output signal of dynamic range 4 quadrant detector (2) and each quadrant of precision 4 quadrant detector (6), (11) are at the angle of inclination or the vergence direction α of x direction before the object wave
xWith angle of inclination or the vergence direction α on the y direction
yComputing formula be respectively:
Wherein f is the focal length of imaging len (1), works as x
cDuring ∈ (1 ,+1), α
xX is worked as at (11) angle of inclination on the x direction of principal axis before the expression object wave
c=± 1 o'clock, α
xPositive and negative positive and negative corresponding to (11) vergence direction on the x axle before the object wave; In like manner, work as y
cDuring ∈ (1 ,+1), α
yThe expression object wave before (11) angle of inclination on the y direction of principal axis, work as y
c=± 1 o'clock, α
yPositive and negative positive and negative corresponding to (11) vergence direction on the y direction of principal axis before the object wave.
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| CN102104430B (en) * | 2010-12-29 | 2013-10-09 | 哈尔滨工业大学 | 1550nm band beam tracking communication integrated optical detection device |
| CN102339068B (en) * | 2011-06-18 | 2013-05-08 | 扬州莱达光电技术有限公司 | Method for automatically positioning image surface of four-quadrant infrared detector |
| CN103499819B (en) * | 2013-09-22 | 2015-06-24 | 中国科学院光电技术研究所 | Device and method for measuring angular offset and distance of target line of sight |
| CN103777547B (en) * | 2014-01-21 | 2016-04-20 | 南京理工技术转移中心有限公司 | Wide range linear array photoelectric cell spot location tracking transducer and spot location method |
| CN106199939B (en) * | 2016-07-15 | 2018-08-24 | 中国科学院光电技术研究所 | Self-adaptive optical system based on field-of-view light splitting |
| CN113340414A (en) * | 2021-06-09 | 2021-09-03 | 西南技术物理研究所 | Flat quadrant laser detector assembly and preparation method thereof |
| CN114137994B (en) * | 2021-11-12 | 2023-08-04 | 长春理工大学 | Image and communication composite high-precision tracking control method in airborne laser communication system |
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| CN100392427C (en) * | 2006-01-16 | 2008-06-04 | 哈尔滨工业大学 | A Deep Space Optical Communication Extended Beacon Acquisition and Tracking Method |
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| Title |
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| 余杨等.焦面阵列FPA (CCD ) 跟瞄的ATP 系统研究.《光电子技术》.2005,第25卷(第2期),80－84. * |
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