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Research progress of acquisition, pointing and tracking in optical wireless communication system
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摘要:
无线光通信是指以光波作为载体在自由空间中传递信息的技术，具有带宽高、成本低和安全性高等优点。捕获、瞄准和跟踪(acquisition, pointing and tracking, APT)系统是建立无线光通信系统的前提，简单、可靠、动态性能好的APT系统可以克服由机械平台震动及外界环境变化对无线光通信系统的影响。因此，需要对APT系统进行较为深入的理论和实验研究，从而设计出一种适合无线光通信的捕获、瞄准和跟踪方法。本文分析了国内外在捕获、瞄准、跟踪方面的研究成果，同时介绍了西安理工大学在自动瞄准方面所做的工作，主要包括初始捕获系统、非共视轴控制系统、光束检测系统等方面的进展，以及1.3 km、5.2 km、10.2 km、100 km距离链路的外场实验，验证了APT系统的有效性。最后展望了无线光通信中APT的发展。
Abstract:Optical wireless communication refers to the technology of transmitting information in free space using light waves as a carrier, which has the advantages of high bandwidth, low cost, and high security. The acquisition, pointing, and tracking (APT) system is the premise of establishing a wireless optical communication system. A simple, reliable, and dynamic APT system can overcome the impact of mechanical platform vibration and external environment changes on the wireless optical communication system. Therefore, it is necessary to conduct in-depth theoretical and experimental research on the APT system, so as to design a capture, aiming, and tracking method suitable for wireless optical communication. This paper analyzes the domestic and foreign research achievements in capturing, aiming, and tracking, and introduces the work done by Xi'an University of Technology in the field of automatic aiming. It mainly includes the progress of initial acquisition system, non-common visual axis control system, beam detection system, etc. At the same time, the field experiments of 1.3 km, 5.2 km, 10.2 km, and 100 km distance links are introduced to verify the effectiveness of the APT system. Finally, the development of APT in wireless optical communication is prospected.
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Overview: Wireless optical communication refers to the technology of transmitting information in free space using light beams as carriers, which has the advantages of high bandwidth, low cost, and high security. Due to factors such as narrow signal beam and long transmission distance, it is difficult to establish and maintain a wireless optical communication link. Therefore, an acquisition, targeting, and tracking system needs to be established to prevent the communication link from being interrupted. In the wireless optical communication system, the optical components on the two platforms carrying the transmitter and the receiver are required to be coaxial in real time, and this process is usually called automatic aiming. In order to maintain the real-time aiming of the transceiver boresight of both transceivers, it is necessary to design a fast and high-precision APT system. A typical wireless optical communication APT system is shown in Figure 1. Liu Changcheng established and analyzed the simulation model in the APT system in atmospheric laser communication, and designed an automatic beam capture system; Hu Qidi designed a beacon light spot detection scheme using CCD; Yang Peisong proposed a coaxial aiming detection method, and designed the aiming control system and tracking system according to the method, and carried out field experiments; Zhao Qi designed an initial capture system and conducted a 1.3 km field experiment; Xu Wei designed a light spot detection system and proposed a corresponding image processing algorithm; Li Shiyan proposed an optical axis aiming scheme, which can effectively improve the detection accuracy and aiming accuracy of the system; Yan Xi designed a spot tracking system and conducted a 5.2 km field tracking experiment. The experimental results show that the tracking accuracy of the system can reach 5.4 μrad; Jing Yongkang designed a light spot image detection method, and conducted a 100 km laser communication experiment on this basis; Zhang Pu embedded a high-precision actuator in the APT system to achieve high-precision aiming and tracking, designed a focusing system and conducted field experiments of 10.2 km and 100 km. Liang Hanli designed an APT system that can be mounted on UAVs and conducted an airborne laser communication experiment through a simulated airborne experimental platform, and its tracking accuracy can reach 2.42 μrad; Ke Xizheng, Yang Shangjun and others proposed a fast aiming method. The method does not need to feed back the control signal from the receiving end to the transmitting end, and can complete the establishment of the uplink and the downlink at the same time. And carried out 1.3 km and 10.3 km field experiments to verify the method. This paper systematically analyzes the development and application of the APT system in wireless optical communication and introduces the research progress and achievements of Xi'an University of Technology in this field. Including the experimental analysis and verification of the performance of the designed initial capture system, compound axis control system and beam detection system Improvements have increased the effectiveness and reliability of the APT system.
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图 24 光斑中心坐标变化曲线(第一次实验)[48]。(a) 水平方向检测光斑中心坐标；(b) 俯仰方向检测光斑中心坐标(2019-08-18 23:00~2019-08-19 02:00，晴，14 ℃)
Figure 24. Spot center coordinate change curve (The first experiment) [48]. (a) Spot center coordinates in horizontal direction; (b) Spot center coordinates in pitch direction (2019-08-18 23:00~2019-08-19 02:00, sunny, 14 ℃)
图 25 光斑中心坐标变化曲线(第二次实验) [48]。(a) 水平方向检测光斑中心坐标； (b) 俯仰方向检测光斑中心坐标(2019-08-20 23:00~2019-08-20 02:00，阴转小雨，9 ℃)
Figure 25. Spot center coordinate change curve (The second experiment) [48]. (a) Spot center coordinates in horizontal; (b) Spot center coordinates in pitch direction (2019-08-20 23:00~2019-08-20 02: 00, cloudy and rainy, 9 ℃)
表 1 国外研究进展
Table 1. Research progress abroad
文献 年份 人物/组织 研究进展 优点/参数 [6] 1985 NASDA 激光通信设备LUCE系统 跟瞄精度均优于1 mrad [7] 1994 JPL 激光通信演示终端OCD 通信速率250 Mb/s [8] 1994 MPT 激光通信设备LCE 粗、精跟踪精度优于32 μrad、2 μrad [9] 1999 A.Biswas 激光通信终端LCT系统 CCD工作帧频1.6 kHz [10] 2001 ESA 复合轴瞄准系统应用于SILEX系统 跟踪精度可达2 μrad [11] 2001 M.Guelman 利用复合轴APT系统进行激光通信实验 首次采用复合轴APT系统 [12] 2004 MIT NASA 火星激光通信演示OLCD系统 通信速率可达10 Mb/s [13] 2008 DLR 激光通信终端LCT 平均跟踪误差226 μrad [14] 2012 S.Christopher 能够实现宽视场捕获和瞄准的小型激光终端 捕获视场46° [15] 2013 DLR “狂风”战斗机实现地对空激光通信实验 链路距离79 km、数据传输速率1.25 Gb/s [17] 2016 C.Quintana 应用于机载激光通信的粗精跟踪系统 空对地通信速率可达2 Mb/s [18] 2020 A.Riccardo 应用于卫星通信的小型化高精度瞄准终端 瞄准误差小于10 μrad 
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表 2 国内研究进展
Table 2. Domestic research progress
文献 年份 人物/组织 研究进展 特点/参数 [4] 1999 刘泽金、舒柏宏 高能激光束自动瞄准系统 稳定有效带宽为50 Hz [30] 2005 柯熙政、刘长城 光束自动捕获系统 建立ATP系统仿真模型 [19] 2005 艾勇、周亚霖 空间光APT系统 角度测量相对误差约为1.3% [20] 2007 姜会林、佟首峰 复合轴粗跟踪伺服带宽优化设计 粗、精跟踪精度分别为60 μrad和4 μrad [21] 2008 潘高峰、张景旭 共光路自动瞄准系统 瞄准精度可达20.52 μrad [31] 2011 柯熙政、胡启迪 信标光光斑检测系统 利用PSD和CCD两种探测器设计APT子系统 [22] 2011 宋延嵩、常帅 空空机载激光通信实验 通信速率1.5 Gb/s [23] 2013 钱锋、贾建军 新型光斑探测相机 噪声对定位误差的影响降低至0.007 pixel [24] 2015 孟立新、赵丁选 粗、精复合跟踪系统 粗、精跟踪精度分别优于23.97 μrad和 7.0 μrad [32] 2016 柯熙政、杨沛松 同轴瞄准检测方法 角度跟踪精度为34.6 μrad [33] 2016 柯熙政、赵奇 初始捕获系统 采用位置校准点方法，减少系统设计成本 [25] 2017 张元生、仇振安 应用于机载激光通信的APT系统 跟踪精度可达10 μrad [36] 2019 柯熙政、严希 光斑跟踪系统 跟踪精度可达5.4 μrad [26] 2019 蔡美华、孔德聪 单探测型复合轴粗精瞄准系统 跟踪精度可达9.69 μrad [35] 2020 柯熙政、景永康 光斑图像检测算法 100 km实验中实现无信标光瞄准 [38] 2020 柯熙政、张璞 捕获、瞄准及调焦系统 10.2 km实验跟瞄精度为27.12 μrad [27] 2020 任斌、鲁倩 四象限探测器跟踪系统 跟踪精度优于3 μrad [39] 2021 柯熙政、杨尚君 二位反射镜快速对准系统 发射端采用相机标定，无需回传控制信息即可完成瞄准 [39] 2021 柯熙政、梁韩立 机载激光自动跟踪控制系统 跟踪精度可达2.42 μrad [28] 2021 李千、吴志勇 BP神经网络位置检测/多单元阵列探测位置检测 光斑位置检测系统角分辨率0.187 μrad/0.903 μrad
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表 3 捕获不确定区域求解实验数据记录表[33]
Table 3. Capture uncertain region to solve the experimental data record table[33]
位置 精度/(°) 纬度/(°) 海拔高度/m 方位角(计算) 俯仰角(计算) 方位角(真实) 俯仰角(真实) A 108.989047 34.254260 424 B 108.986993 34.254459 421 C 108.988018 34.253207 422 41.371093 0.014749 41.100764 0.010549 D 108.987425 34.253136 421 30.354963 −0.031860 30.194587 −0.30598 E 108.984030 34.252024 425 19.403518 −0.036114 19.005784 −0.500756 F 108.984305 34.252335 425 17.402036 −0.039703 17.315786 −0.690475 G 108.984095 34.252387 425 15.973571 −0.029830 16.147860 −0.712659 H 108.983962 34.252302 424 13.204046 −0.018559 13.185405 −0.685246 I 108.984022 34.252950 425 9.599473 −0.009892 9.305784 −0.684959 J 108.984008 34.253207 424 6.655063 0.001487 6.512407 −0.685026 K 108.983992 34.253442 422 3.911638 0.014622 3.850078 −0.685104 L 108.983181 34.254314 417 −5.185554 0.056791 −4.990479 −0.571054
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