CN116222372A - Quick reflector angle calibration method and system - Google Patents
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Abstract
The invention discloses a quick reflector angle calibration method and a quick reflector angle calibration system, wherein the method comprises the following steps: controlling the rapid mirror surface to rotate according to a plurality of preset angle values; acquiring detection signal values of the eddy current sensors corresponding to a plurality of preset angle systems one by one, wherein the detection signal values comprise: an X-axis signal value and a Y-axis signal value; constructing an angle calibration model based on a plurality of preset angle values and corresponding detection signal values; based on the angle calibration model, correcting the real-time detection signal of the eddy current sensor by adopting a bilinear interpolation method. The motion angles of the eddy current sensor and the quick reflector are calibrated through a bilinear interpolation method, so that the quick reflector has good pointing precision and linearity, errors of polynomial fitting of an X axis and a Y axis respectively in a traditional method are reduced, and the method is suitable for the quick reflector with a larger angle, and the precision of the quick reflector is greatly improved.
Description
Technical Field
The invention relates to the technical field of photoelectric tracking, in particular to a quick reflector angle calibration method and system.
Background
The rapid reflector (Fast Steering Mirror) is used as a very key component of the compound axis photoelectric tracking system, and the function of the rapid reflector is to accurately control the direction of the tracking light beam in the compound axis photoelectric tracking system, so that the photoelectric tracking system can accurately and stably track a target. The informatization combat is continuously developed, and the distance between targets to be tracked is further and further increased, so that the requirement on the pointing precision of tracking light beams is further and further increased. Therefore, the high-precision pointing performance of the quick reflector largely determines the tracking performance of the compound axis photoelectric tracking system, and the measurement precision of the displacement sensor in the quick reflector largely determines the pointing precision of the quick reflector.
The precondition for realizing high-precision pointing of the quick reflector is as follows: the two-dimensional angle of the quick reflector is measured by a high-resolution and high-precision displacement sensor, and the measured result is used as the position feedback information of the main control module of the quick reflector to carry out closed-loop control on drivers such as a voice coil motor. Currently, the motion angle measuring sensor used in the voice coil motor type quick reflector mainly comprises an eddy current sensor, a capacitance sensor, a photoelectric sensor and the like. The eddy current sensor is widely applied to a voice coil motor type quick reflector, and has the advantages of high measurement accuracy, high response speed, strong environmental adaptability and the like.
However, the displacement sensor reading is typically an a/D (Analog to Digital) digital signal and does not directly reflect the true angle value of the fast mirror. Therefore, the corresponding relation between the read value of the displacement sensor and the actual angle of the quick reflector needs to be calibrated. In the prior art, one solution is to perform angle calibration by adopting a method of performing simple proportional conversion on the amplitude of an input signal and the deflection angle of the quick reflector, and the method is established under the condition that the linearity of the quick reflector system is good, but the quick reflector system is not completely a linear system, so that the calibration precision is not high. Another solution adopts a piecewise polynomial fitting method to calibrate the fast-mirror system, but the problems of how to select the piecewise points and possibly causing larger errors at the piecewise points can occur.
Disclosure of Invention
The embodiment of the invention aims to provide a quick reflector angle calibration method and system, which calibrate the motion angles of an eddy current sensor and a quick reflector by a bilinear interpolation method, so that the quick reflector has good pointing precision and linearity, reduces the error of polynomial fitting of an X axis and a Y axis respectively by a traditional method, is suitable for the quick reflector with a larger angle, and greatly improves the precision of the quick reflector.
In order to solve the above technical problems, a first aspect of an embodiment of the present invention provides a method for calibrating an angle of a fast mirror, including the following steps:
controlling the rapid mirror surface to rotate according to a plurality of preset angle values;
obtaining detection signal values of the eddy current sensors corresponding to the preset angle systems one by one, wherein the detection signal values comprise: an X-axis signal value and a Y-axis signal value;
constructing an angle calibration model based on a plurality of preset angle values and corresponding detection signal values;
and correcting the real-time detection signal of the eddy current sensor by adopting a bilinear interpolation method based on the angle calibration model.
Further, the correcting the real-time detection signal of the eddy current sensor by using the bilinear interpolation method comprises the following steps:
acquiring a real-time detection signal of the eddy current sensor, and obtaining an X-axis signal value and a Y-axis signal value in the real-time detection signal;
acquiring 4 adjacent sampling points around an interpolation point corresponding to the real-time detection signal;
and calculating the two-dimensional motion angle of the mirror surface of the quick reflector corresponding to the interpolation point based on a bilinear interpolation method.
Further, the calculating the two-dimensional motion angle of the fast mirror surface corresponding to the interpolation point based on the bilinear interpolation method includes:
acquiring coordinate information of the 4 adjacent sampling points;
and calculating the two-dimensional motion angle of the mirror surface of the quick reflector corresponding to the interpolation point by adopting a bilinear interpolation method according to the coordinate information of the 4 adjacent sampling points.
Further, the two-dimensional movement angle f of the fast mirror surface 3 The calculation formula of (2) is as follows:
wherein, (x) 0 ,y 0 )、(x 1 ,y 1 )、(x 2 ,y 2 )、(x 3 ,y 3 ) For the coordinates of 4 adjacent sampling points in the two-dimensional coordinates, the two-dimensional motion angle values of the mirror surfaces corresponding to the 4 adjacent sampling points are f (x) 0 ,y 0 )、f(x 1 ,y 1 )、f(x 2 ,y 2 )、f(x 3 ,y 3 )，f 1 Is a coordinate point (x 0 ,y 0 ) And (x) 3 ,y 3 ) Performing first-order linear interpolation to obtain (x, y) 4 ) Corresponding function value f 2 Is a coordinate point (x 1 ,y 1 ) And (x) 2 ,y 2 ) Performing first-order linear interpolation to obtain (x, y) 5 ) The corresponding function value.
Accordingly, a second aspect of the embodiments of the present invention provides a method for calibrating an angle of a fast mirror, and a mirror angle control module, configured to control rotation of a mirror surface of the fast mirror according to a plurality of preset angle values;
the detection signal acquisition module is used for acquiring detection signal values of the eddy current sensors corresponding to the preset angle systems one by one, and the detection signal values comprise: an X-axis signal value and a Y-axis signal value;
the calibration model construction module is used for constructing an angle calibration model based on a plurality of preset angle values and corresponding detection signal values;
and the detection signal correction module is used for correcting the real-time detection signal of the eddy current sensor by adopting a bilinear interpolation method based on the angle calibration model.
Further, the detection signal correction module includes:
the signal value acquisition unit is used for acquiring a real-time detection signal of the eddy current sensor and obtaining an X-axis signal value and a Y-axis signal value in the real-time detection signal;
the sampling point selecting unit is used for acquiring 4 adjacent sampling points around the interpolation point corresponding to the real-time detection signal;
and the angle calculation unit is used for calculating the two-dimensional motion angle of the mirror surface of the quick reflector corresponding to the interpolation point based on a bilinear interpolation method.
Further, the angle calculation unit includes:
a coordinate information acquisition subunit, configured to acquire coordinate information of the 4 adjacent sampling points;
and the angle calculation subunit is used for calculating the two-dimensional motion angle of the mirror surface of the quick reflector corresponding to the interpolation point by adopting a bilinear interpolation method according to the coordinate information of the 4 adjacent sampling points.
Further, the two-dimensional movement angle f of the fast mirror surface 3 The calculation formula of (2) is as follows:
wherein, (x) 0 ,y 0 )、(x 1 ,y 1 )、(x 2 ,y 2 )、(x 3 ,y 3 ) For the coordinates of 4 adjacent sampling points in the two-dimensional coordinates, the two-dimensional motion angle values of the mirror surfaces corresponding to the 4 adjacent sampling points are f (x) 0 ,y 0 )、f(x 1 ,y 1 )、f(x 2 ,y 2 )、f(x 3 ,y 3 )，f 1 Is a coordinate point (x 0 ,y 0 ) And (x) 3 ,y 3 ) Performing first-order linear interpolation to obtain (x, y) 4 ) Corresponding function value f 2 Is a coordinate point (x 1 ,y 1 ) And (x) 2 ,y 2 ) Performing first-order linear interpolation to obtain (x, y) 5 ) The corresponding function value.
Accordingly, a third aspect of the embodiment of the present invention provides an electronic device, including: at least one processor; and a memory coupled to the at least one processor; wherein the memory stores instructions executable by the one processor to cause the at least one processor to perform the quick mirror angle calibration method described above.
Accordingly, a fourth aspect of embodiments of the present invention provides a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the above-described method of quick mirror angle calibration.
The technical scheme provided by the embodiment of the invention has the following beneficial technical effects:
the motion angles of the eddy current sensor and the quick reflector are calibrated through a bilinear interpolation method, so that the quick reflector has good pointing precision and linearity, errors of polynomial fitting of an X axis and a Y axis respectively in a traditional method are reduced, and the method is suitable for the quick reflector with a larger angle, and the precision of the quick reflector is greatly improved.
Drawings
FIG. 1a is a schematic diagram of a fast mirror structure according to an embodiment of the present invention;
FIG. 1b is a schematic diagram of a fast mirror according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for calibrating an angle of a quick reflector according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a bilinear interpolation method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a sample point distribution of a test process according to an embodiment of the present invention;
FIG. 5 is a block diagram of a quick mirror angle calibration system provided by an embodiment of the present invention;
FIG. 6 is a block diagram of a detection signal correction module according to an embodiment of the present invention;
fig. 7 is a block diagram of an angle calculation unit according to an embodiment of the present invention.
Reference numerals:
1. the system comprises a mirror surface angle control module, a detection signal acquisition module, a calibration model construction module, a detection signal correction module, a signal value acquisition unit, a sampling point selection unit, an angle calculation subunit, a coordinate information acquisition subunit, an angle calculation subunit and a calibration model correction module, wherein the mirror surface angle control module, the detection signal acquisition module, the calibration model construction module, the detection signal correction module, the detection signal value acquisition unit, the detection signal correction module, the signal value acquisition unit, the sampling point selection unit, the sampling point acquisition unit, the angle calculation unit and the coordinate information acquisition subunit are respectively arranged in sequence;
a1, a reflector, a2, an eddy current sensor, a3 and a voice coil motor.
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
Referring to fig. 1a and 1b, the eddy current sensor is used as a displacement measuring sensor with wide bandwidth and high precision, and is generally applied to a precision measuring system to accurately measure the displacement of a conductive material. The probe coil of the eddy current sensor generates a magnetic field, and due to the action of the magnetic field, a magnetic field opposite to the direction of the magnetic field is generated on the surface of the conductive material. The two oppositely directed magnetic fields interact in a magnitude that is related to the distance between the eddy current sensor probe and the surface of the conductive material. The change in distance may thus result in a change in the voltage signal output by the eddy current sensor. It can be seen that the characteristic curve between the output voltage signal of the eddy current sensor and the surface displacement of the measured conductive material can be considered as a straight line with constant slope in the linear range of the eddy current.
In order to accurately and rapidly detect the two-dimensional movement angle of the fast mirror, an eddy current sensor is installed below the mirror surface. Because the total number of voice coil motors for driving the fast reflecting mirror to move is 4, the number of 2 voice coil motors is 1, one push and one pull generate movement torque, and the fast reflecting mirror is controlled to move on two X and Y direction axes so that the mirror surface deflects. The fast mirror system uses 4 eddy current sensors to measure displacement information of the 4 voice coil motors, respectively. The eddy current sensor is placed on the symmetrical line of the voice coil motor, so that the displacement of the voice coil motor on the two direction axes of the quick reflector X and Y is measured. The motion angles of the quick reflector on the X axis and the Y axis can be obtained through differential calculation by using the reading values of the 2 eddy current sensors on the symmetry line respectively.
Referring to fig. 2 and 3, a first aspect of the embodiment of the invention provides a method for calibrating an angle of a fast mirror, which includes the following steps:
step S100, controlling the fast mirror to rotate according to a plurality of preset angle values.
Step S200, obtaining detection signal values of the eddy current sensors corresponding to a plurality of preset angle systems one by one, wherein the detection signal values comprise: x-axis signal values, Y-axis signal values.
And step S300, constructing an angle calibration model based on a plurality of preset angle values and corresponding detection signal values.
Step S400, based on the angle calibration model, correcting the real-time detection signal of the eddy current sensor by adopting a bilinear interpolation method.
According to the technical scheme, the electric vortex sensor and the quick reflector movement angle are calibrated through the bilinear interpolation method, so that the quick reflector has good pointing precision and linearity, errors of polynomial fitting of an X axis and a Y axis respectively in a traditional method are reduced, and the method is suitable for the quick reflector with a larger angle, and the precision of the quick reflector is greatly improved.
Further, in step S400, the correction of the real-time detection signal of the eddy current sensor by using the bilinear interpolation method includes:
step S410, obtaining a real-time detection signal of the eddy current sensor, and obtaining an X-axis signal value and a Y-axis signal value in the real-time detection signal.
Step S420, 4 adjacent sampling points around the interpolation point corresponding to the real-time detection signal are obtained.
And S430, calculating the two-dimensional motion angle of the mirror surface of the quick reflector corresponding to the interpolation point based on the bilinear interpolation method.
Specifically, differential electricity corresponding to real-time detection signals of the eddy current sensor is obtained, and 4 adjacent sampling points around the differential electricity are selected. Based on the coordinate information of the 4 adjacent sampling points and the corresponding quick reflector movement angle values; the angle value corresponding to the interpolation point is calculated by bilinear interpolation.
Further, step S430, calculating the two-dimensional motion angle of the fast mirror surface corresponding to the interpolation point based on the bilinear interpolation method, includes:
in step S431, coordinate information of 4 adjacent sampling points is acquired.
Step S432, calculating the two-dimensional motion angle of the mirror surface of the quick reflector corresponding to the interpolation point by adopting a bilinear interpolation method according to the coordinate information of the 4 adjacent sampling points.
Specifically, referring to fig. 3, the two-dimensional movement angle f of the fast mirror surface 3 The calculation formula of (2) is as follows:
wherein, (x) 0 ,y 0 )、(x 1 ,y 1 )、(x 2 ,y 2 )、(x 3 ,y 3 ) For the coordinates of 4 adjacent sampling points in the two-dimensional coordinates, the two-dimensional motion angle values of the mirror surfaces corresponding to the 4 adjacent sampling points are f (x) 0 ,y 0 )、f(x 1 ,y 1 )、f(x 2 ,y 2 )、f(x 3 ,y 3 )，f 1 Is a coordinate point (x 0 ,y 0 ) And (x) 3 ,y 3 ) Performing first-order linear interpolation to obtain (x, y) 4 ) Corresponding function value f 2 Is a coordinate point (x 1 ,y 1 ) And (x) 2 ,y 2 ) Performing first-order linear interpolation to obtain (x, y) 5 ) The corresponding function value.
In the prior art, a polynomial fitting method is generally adopted to calibrate the detection value of the eddy current sensor and the movement angle of the quick reflector, and the test comparison is carried out on the basis of the invention and the polynomial fitting method.
Referring to fig. 4, first, sampling points are performed within the range of-1000 "to +1000", and each sampling point needs to record the a/D values of the X-axis and Y-axis eddy current sensors and the movement angle values of the fast mirror.
And (5) performing experimental test on the calibration precision of the polynomial fitting method. After the quick reflector is calibrated by adopting a polynomial fitting method, the quick reflector is controlled to point to a specific angle and is compared with the reading of the photoelectric autocollimator, the calibration precision of the polynomial fitting method is tested, and experimental data are shown in table 1.
TABLE 1
Similarly, the calibration accuracy of the bilinear interpolation calibration method is subjected to experimental test, and the test data are shown in table 2.
TABLE 2
As can be seen from a comparison of tables 1 and 2, the calibration error of the bilinear interpolation method is within 2", and the calibration error is smaller than that of the polynomial fitting method. Based on the rapid mirror system measured by the eddy current sensor, the measurement result in the measuring range is influenced by various factors, so that it is difficult to accurately model and match by using a certain function model. So that the polynomial fitting method has relatively large errors at certain data points. Based on the calibration model of the bilinear interpolation method, the two-dimensional angle value of the interpolation point is only related to 4 surrounding sampling points, and the calculated result has higher accuracy. From the comparison, it is clear that: the bilinear interpolation method has higher calibration accuracy than the polynomial fitting method.
Accordingly, referring to fig. 5, a second aspect of the embodiment of the present invention provides a method for calibrating an angle of a fast mirror, including:
the mirror surface angle control module 1 is used for controlling the mirror surface of the quick reflector to rotate according to a plurality of preset angle values;
the detection signal acquisition module 2 is configured to acquire detection signal values of the eddy current sensors corresponding to a plurality of preset angle systems one by one, where the detection signal values include: an X-axis signal value and a Y-axis signal value;
the calibration model construction module 3 is used for constructing an angle calibration model based on a plurality of preset angle values and corresponding detection signal values;
and the detection signal correction module 4 is used for correcting the real-time detection signal of the eddy current sensor by adopting a bilinear interpolation method based on the angle calibration model.
Further, referring to fig. 6, the detection signal correction module 4 includes:
a signal value acquisition unit 41 for acquiring a real-time detection signal of the eddy current sensor, and obtaining an X-axis signal value and a Y-axis signal value in the real-time detection signal;
a sampling point selecting unit 42, configured to obtain 4 adjacent sampling points around the interpolation point corresponding to the real-time detection signal;
and an angle calculating unit 43 for calculating the two-dimensional motion angle of the fast mirror surface corresponding to the interpolation point based on bilinear interpolation.
Further, referring to fig. 7, the angle calculating unit 43 includes:
a coordinate information acquisition sub-unit 431 for acquiring coordinate information of 4 adjacent sampling points;
the angle calculation subunit 432 is configured to calculate, according to coordinate information of 4 adjacent sampling points, a two-dimensional motion angle of the mirror surface of the fast mirror corresponding to the interpolation point by using a bilinear interpolation method.
Specifically, the two-dimensional movement angle f of the mirror surface of the quick reflector 3 The calculation formula of (2) is as follows:
wherein, (x) 0 ,y 0 )、(x 1 ,y 1 )、(x 2 ,y 2 )、(x 3 ,y 3 ) For the coordinates of 4 adjacent sampling points in the two-dimensional coordinates, the two-dimensional motion angle values of the mirror surfaces corresponding to the 4 adjacent sampling points are f (x) 0 ,y 0 )、f(x 1 ,y 1 )、f(x 2 ,y 2 )、f(x 3 ,y 3 )，f 1 Is a coordinate point (x 0 ,y 0 ) And (x) 3 ,y 3 ) Performing first-order linear interpolation to obtain (x, y) 4 ) Corresponding function value f 2 Is a coordinate point (x 1 ,y 1 ) And (x) 2 ,y 2 ) Performing first-order linear interpolation to obtain (x, y) 5 ) The corresponding function value.
Accordingly, a third aspect of the embodiment of the present invention provides an electronic device, including: at least one processor; and a memory coupled to the at least one processor; wherein the memory stores instructions executable by the one processor to cause the at least one processor to perform the quick mirror angle calibration method described above.
Accordingly, a fourth aspect of embodiments of the present invention provides a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the above-described method of quick mirror angle calibration.
The embodiment of the invention aims to protect a quick reflector angle calibration method and a quick reflector angle calibration system, wherein the method comprises the following steps: controlling the rapid mirror surface to rotate according to a plurality of preset angle values; acquiring detection signal values of the eddy current sensors corresponding to a plurality of preset angle systems one by one, wherein the detection signal values comprise: an X-axis signal value and a Y-axis signal value; constructing an angle calibration model based on a plurality of preset angle values and corresponding detection signal values; based on the angle calibration model, correcting the real-time detection signal of the eddy current sensor by adopting a bilinear interpolation method. The technical scheme has the following effects:
the motion angles of the eddy current sensor and the quick reflector are calibrated through a bilinear interpolation method, so that the quick reflector has good pointing precision and linearity, errors of polynomial fitting of an X axis and a Y axis respectively in a traditional method are reduced, and the method is suitable for the quick reflector with a larger angle, and the precision of the quick reflector is greatly improved.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explanation of the principles of the present invention and are in no way limiting of the invention. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the scope of the present invention. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.
Claims (10)
1. The quick reflector angle calibration method is characterized by comprising the following steps of:
controlling the rapid mirror surface to rotate according to a plurality of preset angle values;
obtaining detection signal values of the eddy current sensors corresponding to the preset angle systems one by one, wherein the detection signal values comprise: an X-axis signal value and a Y-axis signal value;
constructing an angle calibration model based on a plurality of preset angle values and corresponding detection signal values;
and correcting the real-time detection signal of the eddy current sensor by adopting a bilinear interpolation method based on the angle calibration model.
2. The method of claim 1, wherein the correcting the real-time detection signal of the eddy current sensor by bilinear interpolation comprises:
acquiring a real-time detection signal of the eddy current sensor, and obtaining an X-axis signal value and a Y-axis signal value in the real-time detection signal;
acquiring 4 adjacent sampling points around an interpolation point corresponding to the real-time detection signal;
and calculating the two-dimensional motion angle of the mirror surface of the quick reflector corresponding to the interpolation point based on a bilinear interpolation method.
3. The method for calibrating the angle of the quick mirror according to claim 2, wherein the calculating the two-dimensional motion angle of the quick mirror surface corresponding to the interpolation point based on the bilinear interpolation method comprises:
acquiring coordinate information of the 4 adjacent sampling points;
and calculating the two-dimensional motion angle of the mirror surface of the quick reflector corresponding to the interpolation point by adopting a bilinear interpolation method according to the coordinate information of the 4 adjacent sampling points.
4. A method of calibrating a fast mirror angle according to claim 3, wherein the fast mirror has a two-dimensional movement angle f 3 The calculation formula of (2) is as follows:
wherein, (x) 0 ,y 0 )、(x 1 ,y 1 )、(x 2 ,y 2 )、(x 3 ,y 3 ) For the coordinates of 4 adjacent sampling points in the two-dimensional coordinates, the two-dimensional motion angle values of the mirror surfaces corresponding to the 4 adjacent sampling points are f (x) 0 ,y 0 )、f(x 1 ,y 1 )、f(x 2 ,y 2 )、f(x 3 ,y 3 )，f 1 Is a coordinate point (x 0 ,y 0 ) And (x) 3 ,y 3 ) Performing first-order linear interpolation to obtain (x, y) 4 ) Corresponding function value f 2 Is a coordinate point (x 1 ,y 1 ) And (x) 2 ,y 2 ) Performing first-order linear interpolation to obtain (x, y) 5 ) The corresponding function value.
5. A quick mirror angle calibration system, comprising:
the mirror surface angle control module is used for controlling the mirror surface of the quick reflector to rotate according to a plurality of preset angle values;
the detection signal acquisition module is used for acquiring detection signal values of the eddy current sensors corresponding to the preset angle systems one by one, and the detection signal values comprise: an X-axis signal value and a Y-axis signal value;
the calibration model construction module is used for constructing an angle calibration model based on a plurality of preset angle values and corresponding detection signal values;
and the detection signal correction module is used for correcting the real-time detection signal of the eddy current sensor by adopting a bilinear interpolation method based on the angle calibration model.
6. The quick mirror angle calibration system of claim 5, wherein the detection signal correction module comprises:
the signal value acquisition unit is used for acquiring a real-time detection signal of the eddy current sensor and obtaining an X-axis signal value and a Y-axis signal value in the real-time detection signal;
the sampling point selecting unit is used for acquiring 4 adjacent sampling points around the interpolation point corresponding to the real-time detection signal;
and the angle calculation unit is used for calculating the two-dimensional motion angle of the mirror surface of the quick reflector corresponding to the interpolation point based on a bilinear interpolation method.
7. The quick mirror angle calibration method according to claim 6, wherein the angle calculation unit includes:
a coordinate information acquisition subunit, configured to acquire coordinate information of the 4 adjacent sampling points;
and the angle calculation subunit is used for calculating the two-dimensional motion angle of the mirror surface of the quick reflector corresponding to the interpolation point by adopting a bilinear interpolation method according to the coordinate information of the 4 adjacent sampling points.
8. The method for calibrating an angle of a quick mirror according to claim 7, wherein,
the two-dimensional movement angle f of the mirror surface of the quick reflector 3 The calculation formula of (2) is as follows:
wherein, (x) 0 ,y 0 )、(x 1 ,y 1 )、(x 2 ,y 2 )、(x 3 ,y 3 ) For the coordinates of 4 adjacent sampling points in the two-dimensional coordinates, the two-dimensional motion angle values of the mirror surfaces corresponding to the 4 adjacent sampling points are f (x) 0 ,y 0 )、f(x 1 ,y 1 )、f(x 2 ,y 2 )、f(x 3 ,y 3 )，f 1 Is a coordinate point (x 0 ,y 0 ) And (x) 3 ,y 3 ) Performing first-order linear interpolation to obtain (x, y) 4 ) Corresponding function value f 2 Is a coordinate point (x 1 ,y 1 ) And (x) 2 ,y 2 ) Performing first-order linear interpolation to obtain (x, y) 5 ) The corresponding function value.
9. An electronic device, comprising: at least one processor; and a memory coupled to the at least one processor; wherein the memory stores instructions executable by the one processor to cause the at least one processor to perform the quick mirror angle calibration method of any one of claims 1-4.
10. A computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the quick mirror angle calibration method of any of claims 1-4.
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|---|---|---|---|---|
| CN116699839A (en) * | 2023-08-07 | 2023-09-05 | 北京瑞控信科技股份有限公司 | Two-dimensional large-angle reflector calibration method and system |
| CN116699839B (en) * | 2023-08-07 | 2023-10-20 | 北京瑞控信科技股份有限公司 | Two-dimensional large-angle reflector calibration method and system |
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