CN115468533B - Rapid orientation device and orientation method for laser communication ground station - Google Patents
Rapid orientation device and orientation method for laser communication ground station Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a rapid orientation device and an orientation method for a laser communication ground station, wherein the device comprises a fixed end A and a movable end B which are arranged on a laser communication antenna side; the fixed end A comprises a GPS/BD receiving antenna A, a laser range finder, an angle measurement CCD, a beam splitter, a beam expanding lens and a GPS/BD receiver; the beam expanding lens is arranged on an angle positioning rotary table, and the angle positioning rotary table is arranged on the mounting substrate; the mobile terminal B comprises a GPS/BD receiving antenna B, a corner reflector array and an adjustable diaphragm, wherein the corner reflector array is arranged on an adjustable bracket; in the vertical direction, the distance between the GPS/BD receiving antenna A and the spectroscope and the distance between the GPS/BD receiving antenna B and the center of the adjustable diaphragm are equal; in the horizontal direction, the connecting line of the GPS/BD receiving antenna A and the GPS/BD receiving antenna B is parallel to the connecting line from the center of the beam expanding lens to the center of the adjustable diaphragm. The invention gets rid of the rigid baseline limitation.
Description
Technical Field
The invention belongs to the technical field of optical equipment, and particularly relates to a rapid orientation device and an orientation method for a laser communication ground station.
Background
Compared with the existing microwave communication technology, the satellite laser communication technology has the remarkable advantages of high data rate, good interference resistance and confidentiality and the like, and is an effective supplementary technical means for satellite communication in the future. At present, a plurality of satellite optical communication on-orbit tests are developed at home and abroad, and military and commercial aerospace applications are gradually developed.
Compared with a traditional microwave communication system, the laser communication system is superior to a laser communication system which adopts a light wave band as an information carrier (carrier 10 to 400THz), has extremely high communication bandwidth, and has the outstanding advantages of light weight, small volume and low power consumption.
In the satellite-ground high-speed laser communication, a laser communication ground station is an important information downlink receiving carrier, and in order to realize rapid, stable and high-reliability satellite-ground aiming, capturing and tracking, the ground station needs to accurately measure the direction and the pitching reference direction of a pointing mechanism, so that the uncertain direction is reduced. For a fixed ground station, the volume, weight and scale of the equipment are not limited, and the reference direction of the ground station pointing mechanism can be obtained through direction measurement of a long base line; however, with the development of satellite-ground laser transmission technology, flexible satellite-ground transmission is required, and a mobile vehicle-mounted ground station becomes a main form of application of the satellite-ground laser communication ground station, however, for the vehicle-mounted ground station, the length, weight and the like of equipment are limited, and it is difficult to provide a hardware measurement baseline with high strength and high rigidity and large length meeting the precision requirement. The invention can be used for getting rid of the limitation of a hardware measurement baseline, establishing an optical baseline according to an external environment pair, and reducing the physical length of the baseline to be more than 5m and less than 0.6m.
A conventional high-precision direction measuring device is shown in FIG. 1 and comprises a level gauge 1, a mounting board 7, a GPS/BD receiving antenna A4, a GPS/BD receiving antenna B11, and a GPS/BD receiver 9. By utilizing the RTK mode of the GPS/BD receiving antenna A4 and the GPS/BD receiving antenna B11, the direction accurate measurement of the connecting line (the baseline direction) of the GPS/BD receiving antenna A4 and the GPS/BD receiving antenna B11 in a ground-fixed coordinate system is realized, and the measurement accuracy depends on the relative distance (the baseline length) of the GPS/BD receiving antenna A4 and the GPS/BD receiving antenna B11 under the condition that the performance of a GPS/BD receiver is fixed. In the use of high-precision measurement, the length of the mounting substrate 7 needs to be large in the reference direction, generally more than 5m, and the baseline state is unstable and uncertain due to the telescopic mechanism, so that the baseline needs to be completely fixed in relative angle with the measured laser communication pointing mechanism, and needs to be integrally designed with high rigidity, so that the baseline needs to be fixedly mounted and immovable, and is difficult to realize accidental use such as vehicle-mounted and moving.
To sum up, the following problems exist in the current ground laser communication terminal direction measuring mechanism: 1) The base line is long, the volume is too large, and the storage is difficult; 2) The structure is heavy; 3) The baseline distance is short, and the measurement precision is low.
Disclosure of Invention
In order to solve the problems, the invention discloses a rapid orientation device and an orientation method for a laser communication ground station, which utilize a two-dimensional structure rotary table to realize that the base line direction can be adjusted randomly, and realize that the included angle between the measured base line direction and the serving rotary table reference direction can be measured in real time; the angle measurement CCD is used for accurately measuring the feedback error of the rotary table, so that the precision is improved; the distance between the GPS/BD receiving antenna A at the fixed end A and the GPS/BD receiving antenna B at the movable end B can be flexibly adjusted by utilizing the laser range finder, so that the rigid baseline limit is eliminated.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a laser communication ground station rapid orientation device comprises a fixed end A and a movable end B which are arranged at the side of a laser communication antenna;
the fixed end A comprises a GPS/BD receiving antenna A, a laser range finder, an angle measurement CCD, a beam splitter, a beam expanding lens and a GPS/BD receiver; the beam expanding lens is arranged on an angle positioning rotary table, and the angle positioning rotary table is arranged on a mounting substrate;
the mobile end B comprises a GPS/BD receiving antenna B, an angle reflecting mirror array and an adjustable diaphragm, and the angle reflecting mirror array is arranged on an adjustable support;
in the vertical direction, the distance between the GPS/BD receiving antenna A and the spectroscope and the distance between the GPS/BD receiving antenna B and the center of the adjustable diaphragm are equal; in the horizontal direction, the connecting line of the GPS/BD receiving antenna A and the GPS/BD receiving antenna B is parallel to the connecting line from the center of the beam expanding lens to the center of the adjustable diaphragm;
the device comprises a laser range finder, a beam splitter, a beam expanding lens, an adjustable diaphragm and an angle reflector array, wherein the laser range finder, the beam splitter, the beam expanding lens, the adjustable diaphragm and the angle reflector array form a relative distance measuring unit;
the angle positioning rotary table consists of a rotating shaft with an azimuth direction and a pitching direction which are orthogonal and is used for realizing the measurement of an included angle between a relative distance measurement light path and the reference of the ground station terminal rotary table;
the device comprises a laser range finder, a beam splitter, a beam expanding lens, an angle positioning rotary table, an adjustable diaphragm, an angle reflecting mirror array and an angle measuring CCD (charge coupled device) which form an observation and adjustment unit, wherein a measuring beam is sent out by the laser range finder, reflected to the beam expanding lens after passing through the beam splitter and is transmitted after being compressed by the beam expanding lens, and after being reflected by the incident adjustable diaphragm and the angle reflecting mirror array, the measuring beam returns to the beam expanding lens, and after passing through the beam splitter, the incident angle measuring CCD adjusts the adjustable diaphragm by observing the shape and the position of a light spot on the angle measuring CCD.
Further, a level gauge is mounted on the mounting substrate.
Further, the method for carrying out the rapid orientation of the laser communication ground station by using the rapid orientation device of the laser communication ground station comprises the following steps:
(1) Adjusting the direction reference of the azimuth axis and the rotation angle reference of the pitching axis of the angle positioning rotary table to be consistent with the reference direction of the rotary table of the communication terminal of the tested ground station;
(2) The GPS/BD receiving antenna A is arranged at a fixed end A, the GPS/BD receiving antenna B is arranged at a movable end B, and the distance L between the GPS/BD receiving antenna A and the spectroscope is in the vertical direction O1S1 Distance L between GPS/BD receiving antenna B and adjustable diaphragm center O2S2 Equal; in the horizontal direction, the GPS/BD receiving antenna A passes through the center of the beam splitter, the GPS/BD receiving antenna B passes through the center of the diaphragm, and a connecting line S1S2 between the GPS/BD receiving antenna A and the GPS/BD receiving antenna B is parallel to a connecting line O1O2 from the center of the beam splitter to the center of the adjustable diaphragm;
(3) Manually/electrically rotating the angle positioning turntable to enable the light beam emitted by the laser range finder to accurately enter the center of the adjustable diaphragm and to be reflected back to the laser range finder by the angle reflecting mirror array to obtain distance information between the laser range finder and the angle reflecting mirror;
(4) Observing a reflection light spot on the angle measurement CCD, controlling the adjustable diaphragm to be continuously reduced, controlling the rotary table to perform fine adjustment when shielding occurs, and stopping continuously reducing the adjustable diaphragm until the adjustable diaphragm is reduced to the lower limit of the working capacity of the laser range finder;
(5) Controlling the angle positioning rotary table to move in the azimuth direction and the pitching direction, and after acquiring the azimuth direction and the pitching direction boundaries of the light spots on the angle measurement CCD, controlling the angle positioning rotary table to enable the light spots on the angle measurement CCD to return to the central position, so that the incident light finally enters the position of the center O2 of the adjustable diaphragm; reading angle feedback values Az0 and EL0 of an azimuth axis and a pitch axis of the angle positioning rotary table at the moment;
(6) Starting a GPS/BD receiver, obtaining the angular positions Az1 and EL1 of the S1S2 connecting line in the earth-fixed system, and calculating the measurement accuracydAz1 anddEL1：
wherein Az1 represents the included angle between the projection of the S1S2 vector on the horizontal plane and the true north direction in the earth fixation system, EL1 represents the included angle between the S1S2 vector and the horizontal plane in the earth fixation system,daz1 represents a measurement calculation error of Az1,dEL1 represents a measurement calculation error of EL1,
the indication is the measurement error of the GPS/BD receiver in the horizontal plane,
indicating that the GPS/BD receiver is measuring an error in altitude,
the distance between the center O1 of the beam splitter and the center O2 of the adjustable diaphragm is shown;
(7) And finally, calculating the angular position of the turntable reference at the ground fixing system terminal, wherein the angular position is the same as the turntable reference of the ground terminal to be measured, and the calculation formula is as follows:
the angle feedback values Az0 and EL0 of the azimuth axis and the pitch axis of the positioning rotary table are the angular positions of the direction reference of the rotary table/the ground station to be detected at the terminal of the ground fixing system, the included angle Az between the projection pointed by the rotary table in the horizontal plane and the due north direction is included, and the included angle between the pointed angle of the rotary table and the horizontal plane is EL.
The beneficial effects of the invention are as follows:
the invention realizes that the baseline direction can be adjusted at will by using the two-dimensional structure rotary table, and realizes that the included angle between the measured baseline direction and the serving rotary table reference direction can be measured in real time; the angle measurement CCD is used for accurately measuring the feedback error of the rotary table, so that the precision is improved; by using the laser range finder, the distance between the GPS/BD receiving antenna A at the fixed end A and the GPS/BD receiving antenna B at the mobile end B can be flexibly adjusted, and the rigid baseline limit is eliminated. The device not only can effectively solve the problems of short measurement base line, large angle measurement error and long bidirectional laser communication capture period on the mobile laser communication ground station, but also has the characteristics of small volume and weight, convenience in expansion and adjustable measurement base line length.
Drawings
FIG. 1 is a schematic diagram of a prior art ground station direction measuring device of the background art;
FIG. 2 is a schematic structural diagram of a rapid orientation device of a laser communication ground station according to the present invention;
fig. 3 is a relative distance measurement link diagram of the present invention.
List of reference symbols:
A. a fixed end; B. a mobile terminal; 1. a level gauge; 2. angle measurement CCD; 3. a beam splitter; 4. GPS/BD receiving antenna A; 5. a laser range finder; 6. a beam expanding lens; 7. a mounting substrate; 8. an angle positioning turntable; 9. a GPS/BD receiver; 10. an array of corner mirrors; 11. GPS/BD receiving antenna B;12 an adjustable diaphragm; 13. an adjustable support.
Detailed Description
The present invention will be further illustrated with reference to the accompanying drawings and specific embodiments, which are to be understood as merely illustrative of the invention and not as limiting the scope of the invention.
As shown in fig. 2, the fast orientation apparatus for a laser communication ground station of the present embodiment includes a fixed end a and a movable end B installed on a laser communication antenna side;
the fixed end A comprises a GPS/BD receiving antenna A4, a laser range finder 5, an angle measurement CCD 2, a beam splitter 3, a beam expanding lens 6 and a GPS/BD receiver 9; the beam expanding lens 6 is arranged on an angle positioning rotary table 8, and the angle positioning rotary table is arranged on a mounting substrate 7;
the mobile terminal B comprises a GPS/BD receiving antenna B11, a corner reflector array 10 and an adjustable diaphragm 12, and the corner reflector array is arranged on an adjustable support 13;
in the vertical direction, the distance between the GPS/BD receiving antenna A and the spectroscope and the distance between the GPS/BD receiving antenna B and the center of the adjustable diaphragm are equal; in the horizontal direction, the connecting line of the GPS/BD receiving antenna A and the GPS/BD receiving antenna B is parallel to the connecting line from the center of the beam expanding lens to the center of the adjustable diaphragm;
the device comprises a laser range finder, a beam splitter, a beam expanding lens, an adjustable diaphragm and an angle reflector array, wherein the laser range finder, the beam splitter, the beam expanding lens, the adjustable diaphragm and the angle reflector array form a relative distance measuring unit;
the angle positioning rotary table consists of a rotating shaft with an azimuth direction and a pitching direction which are orthogonal and is used for realizing the measurement of an included angle between a relative distance measurement light path and the reference of the ground station terminal rotary table;
the device comprises a laser range finder, a beam splitter, a beam expanding lens, an angle positioning rotary table, an adjustable diaphragm, an angle reflecting mirror array and an angle measuring CCD (charge coupled device) which form an observation and adjustment unit, wherein a measuring beam is sent out by the laser range finder, reflected to the beam expanding lens after passing through the beam splitter and is transmitted after being compressed by the beam expanding lens, and after being reflected by the incident adjustable diaphragm and the angle reflecting mirror array, the measuring beam returns to the beam expanding lens, and after passing through the beam splitter, the incident angle measuring CCD adjusts the adjustable diaphragm by observing the shape and the position of a light spot on the angle measuring CCD.
Further, a level 1 is mounted on the mounting substrate.
The method for carrying out the rapid orientation of the laser communication ground station by using the rapid orientation device of the laser communication ground station comprises the following steps:
(1) Adjusting the direction reference of the azimuth axis and the rotation angle reference of the pitching axis of the angle positioning rotary table to be consistent with the reference direction of the rotary table of the communication terminal of the tested ground station;
(2) As shown in FIG. 3, the GPS/BD receiving antenna A is arranged at the fixed end A, the GPS/BD receiving antenna B is arranged at the movable end B, and the distance L between the GPS/BD receiving antenna A and the spectroscope is in the vertical direction O1S1 Distance L between GPS/BD receiving antenna B and adjustable diaphragm center O2S2 Equal; in the horizontal direction, the GPS/BD receiving antenna A passes through the center of the beam splitter, the GPS/BD receiving antenna B passes through the center of the diaphragm, and a connecting line S1S2 between the GPS/BD receiving antenna A and the GPS/BD receiving antenna B is parallel to a connecting line O1O2 from the center of the beam splitter to the center of the adjustable diaphragm;
(3) Manually/electrically rotating the angle positioning turntable to enable the light beam emitted by the laser range finder to accurately enter the center of the adjustable diaphragm and to be reflected back to the laser range finder through the angle reflector array to obtain distance information between the laser range finder and the angle reflector;
(4) Observing a reflection light spot on the angle measurement CCD, controlling the adjustable diaphragm to be continuously reduced, controlling the rotary table to perform fine adjustment when shielding occurs, and stopping continuously reducing the adjustable diaphragm until the adjustable diaphragm is reduced to the lower limit of the working capacity of the laser range finder;
(5) Controlling the angle positioning rotary table to move in the azimuth direction and the pitching direction, and after acquiring the azimuth direction and the pitching direction boundaries of the light spot on the angle measurement CCD, controlling the angle positioning rotary table to enable the light spot on the angle measurement CCD to return to the central position, so that the incident light finally enters the position of the center O2 of the adjustable diaphragm; reading angle feedback values Az0 and EL0 of an azimuth axis and a pitch axis of the angle positioning rotary table at the moment;
(6) Starting a GPS/BD receiver, obtaining the angular positions Az1 and EL1 of the S1S2 connecting line in the earth-fixed system, and calculating the measurement accuracydAz1 anddEL1：
wherein Az1 represents the included angle between the projection of the S1S2 vector on the horizontal plane and the true north direction in the earth fixation system, EL1 represents the included angle between the S1S2 vector and the horizontal plane in the earth fixation system,daz1 represents a measurement calculation error of Az1,dEL1 represents the measurement calculation error of EL1,
the representation is the measurement error of the GPS/BD receiver in the horizontal plane,
indicating that the GPS/BD receiver is measuring an error in altitude,
the distance between the center O1 of the beam splitter and the center O2 of the adjustable diaphragm is represented;
(7) And finally, calculating the angular position of the turntable reference at the ground fixed system terminal, wherein the angular position is the same as the measured ground terminal turntable reference, and the calculation formula is as follows:
the angle feedback values Az0 and EL0 of the azimuth axis and the pitch axis of the positioning rotary table are the angular positions of the direction reference of the rotary table/the ground station to be detected at the terminal of the ground fixing system, the included angle Az between the projection pointed by the rotary table in the horizontal plane and the due north direction is included, and the included angle between the pointed angle of the rotary table and the horizontal plane is EL.
The actual measurement case is as follows:
the direction reference of the rotation angle of the azimuth shaft and the pitch shaft of the mechanical rotary table is adjusted to be consistent with the reference direction of the rotary table of the communication terminal of the ground station to be measured, and the measuring device is directly installed on the rotary table of the terminal of the ground station (2 rotary tables are combined into one) for convenient use.
As shown in figure 3, the GPS/BD receiving antenna A at the fixed end A is arranged at the load side of the angle positioning turntable telescope, passes through the vertical plane of the telescope axis (horizontal deviation is 0.2 mm), and has the height of 155.4mm relative to the center of the spectroscope. Meanwhile, a GPS/BD receiving antenna B of the mobile terminal is arranged on a vertical plane (with the deviation of 0.2 mm) at the center of the adjustable diaphragm, and the height is 155.5mm.
The movable end B is placed at a distance of about 20m from the fixed end, the angle positioning rotary table 8 is controlled, so that light beams emitted by the distance measuring machine are accurately incident to the center of the adjustable diaphragm and are reflected back to the laser distance measuring instrument through the angle reflecting mirror array, distance information between the laser distance measuring instrument and the angle reflecting mirror is obtained, 19.73m is obtained, and the S1O1 distance is subtracted to obtain 19.5745m actually.
And observing a reflection light spot on the angle measurement CCD, controlling the adjustable diaphragm to be continuously reduced, controlling the rotary table to perform fine adjustment when shielding occurs, stopping continuously reducing the adjustable diaphragm until the adjustable diaphragm is reduced to the lower limit of the working capacity of the laser range finder, and ensuring that the minimum working of the diaphragm is about 2.2mm.
Controlling the angle positioning rotary table to move in the azimuth direction and the pitching direction, and after acquiring the azimuth direction and the pitching direction boundary of the light spot on the angle measurement CCD, controlling the angle positioning rotary table 8 to make the light spot on the angle measurement CCD return to the central position, so that the incident light finally enters the position of the center O2 of the adjustable diaphragm;
reading angle feedback values (22.7551 degrees and 2.7145 degrees) of an azimuth axis and a pitch axis of the angle positioning rotary table;
turning on a GPS/BD receiver to obtain the angular positions (113.772 degrees and 2.557 degrees) of the S1S2 connecting line in the geostationary system, wherein the actual angular positions of the measured datum in the geostationary system are 91.0169 degrees and-0.1575 degrees;
in the RTK mode, the measurement accuracy is 0.01m for dAz1 and 0.02m for dEL1, and considering that the baseline is 19.5745m, the measurement errors are 0.011 ° and 0.022 ° respectively (2 m baseline 0.1 ° is common depending on the accuracy of the GPS/BD receiver algorithm, the baseline is lengthened, and the accuracy is improved in an equal ratio);
if the same direction-finding precision is achieved, the traditional method needs a rigid base line of 20m, and the new equipment does not need the rigid base line and can be larger, and the distance is not limited.
It should be noted that the above-mentioned contents only illustrate the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and it is obvious to those skilled in the art that several modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations fall within the protection scope of the claims of the present invention.
Claims (3)
1. A laser communication ground station rapid orientation device comprises a fixed end A and a movable end B which are arranged at the side of a laser communication antenna; it is characterized in that the preparation method is characterized in that,
the fixed end A comprises a GPS/BD receiving antenna A, a laser range finder, an angle measurement CCD, a beam splitter, a beam expanding lens and a GPS/BD receiver; the beam expanding lens is arranged on an angle positioning rotary table, and the angle positioning rotary table is arranged on a mounting substrate;
the mobile terminal B comprises a GPS/BD receiving antenna B, a corner reflector array and an adjustable diaphragm, wherein the corner reflector array is arranged on an adjustable bracket;
in the vertical direction, the distance between the GPS/BD receiving antenna A and the spectroscope and the distance between the GPS/BD receiving antenna B and the center of the adjustable diaphragm are equal; in the horizontal direction, the connecting line of the GPS/BD receiving antenna A and the GPS/BD receiving antenna B is parallel to the connecting line from the center of the beam expanding lens to the center of the adjustable diaphragm;
the device comprises a laser range finder, a beam splitter, a beam expanding lens, an adjustable diaphragm and an angle reflector array, wherein the laser range finder, the beam splitter, the beam expanding lens, the adjustable diaphragm and the angle reflector array form a relative distance measuring unit;
the angle positioning rotary table consists of a rotating shaft with an azimuth direction and a pitching direction which are orthogonal and is used for realizing the measurement of an included angle between a relative distance measurement light path and the reference of the ground station terminal rotary table;
the device comprises a laser range finder, a beam splitter, a beam expanding lens, an angle positioning rotary table, an adjustable diaphragm, an angle reflecting mirror array and an angle measuring CCD (charge coupled device) which form an observation and adjustment unit, wherein a measuring beam is sent out by the laser range finder, reflected to the beam expanding lens after passing through the beam splitter and is transmitted after being compressed by the beam expanding lens, and after being reflected by the incident adjustable diaphragm and the angle reflecting mirror array, the measuring beam returns to the beam expanding lens, and after passing through the beam splitter, the incident angle measuring CCD adjusts the adjustable diaphragm by observing the shape and the position of a light spot on the angle measuring CCD.
2. The laser communication ground station quick orientation device of claim 1, wherein a level is mounted on the mounting substrate.
3. A method for rapid orientation of a laser communication ground station using the laser communication ground station rapid orientation apparatus of any one of claims 1-2, the method comprising the steps of:
(1) Adjusting the direction reference of the rotation angle of the azimuth shaft and the pitching shaft of the angle positioning rotary table to be consistent with the reference direction of the rotary table of the communication terminal of the tested ground station;
(2) The GPS/BD receiving antenna A is arranged at a fixed end A, the GPS/BD receiving antenna B is arranged at a mobile end B,and in the vertical direction, the distance L between the GPS/BD receiving antenna A and the spectroscope O1S1 Distance L between GPS/BD receiving antenna B and adjustable diaphragm center O2S2 Equal; in the horizontal direction, the GPS/BD receiving antenna A passes through the center of the beam splitter, the GPS/BD receiving antenna B passes through the center of the diaphragm, and a connecting line S1S2 between the GPS/BD receiving antenna A and the GPS/BD receiving antenna B is parallel to a connecting line O1O2 from the center of the beam splitter to the center of the adjustable diaphragm;
(3) Manually/electrically rotating the angle positioning turntable to enable the light beam emitted by the laser range finder to accurately enter the center of the adjustable diaphragm and to be reflected back to the laser range finder by the angle reflecting mirror array to obtain distance information between the laser range finder and the angle reflecting mirror;
(4) Observing a reflection light spot on the angle measurement CCD, controlling the adjustable diaphragm to be continuously reduced, controlling the rotary table to perform fine adjustment when shielding occurs, and stopping continuously reducing the adjustable diaphragm until the adjustable diaphragm is reduced to the lower limit of the working capacity of the laser range finder;
(5) Controlling the angle positioning rotary table to move in the azimuth direction and the pitching direction, and after acquiring the azimuth direction and the pitching direction boundaries of the light spot on the angle measurement CCD, controlling the angle positioning rotary table to enable the light spot on the angle measurement CCD to return to the central position, so that the incident light finally enters the position of the center O2 of the adjustable diaphragm; reading angle feedback angle values Az0 and EL0 of the azimuth axis and the pitch axis of the positioning rotary table at the moment;
(6) Starting a GPS/BD receiver, obtaining the angular positions Az1 and EL1 of the S1S2 connecting line in the earth fixed system, and calculating the measurement errordAz1 anddEL1：
wherein Az1 represents the included angle between the projection of the S1S2 vector on the horizontal plane and the true north direction in the geostationary system, EL1 represents the included angle between the S1S2 vector and the horizontal plane in the geostationary system,daz1 represents a measurement calculation error of Az1,dEL1 represents the measurement calculation error of EL1,
the representation is the measurement error of the GPS/BD receiver in the horizontal plane,
indicating that the GPS/BD receiver is in altitude measurement error,
the distance between the center O1 of the beam splitter and the center O2 of the adjustable diaphragm is represented;
(7) And finally, calculating the angular position of the turntable reference at the ground fixed system terminal, wherein the angular position is the same as the measured ground terminal turntable reference, and the calculation formula is as follows:
the angle feedback values Az0 and EL0 of the azimuth axis and the pitch axis of the positioning rotary table are the angular positions of the direction reference of the rotary table/the ground station to be detected at the terminal of the ground fixing system, the included angle Az between the projection pointed by the rotary table in the horizontal plane and the due north direction is included, and the included angle between the pointed angle of the rotary table and the horizontal plane is EL.
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