基于回波信号的光束瞄准技术研究
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摘要
主动跟踪照明、自由激光通信等领域要求发射光束精确瞄准目标。但是当激光传输照射目标时，由于跟踪设备的局限性、瞄准系统的机械振动、大气湍流、以及光学未对准引起的光束瞄准误差，会导致光轴偏离视轴和接收探测的信号能量损失。长期以来，估计和校正这些误差一直是光束瞄准的难点；尤其是对非合作目标，大多都处于开环工作状态，瞄准精度很难得到保证。本文主要研究基于回波信号的光束瞄准技术，旨在探索对非合作目标的瞄准误差评估和光束闭环瞄准的方法。
本文首先回顾了基于回波信号的光束瞄准技术的研究历史，结合该瞄准技术的应用目的和发展趋势，指出了相关研究工作的重要意义。然后根据目标主动照明实验引出了基于回波信号的光束瞄准技术理论，给出了主动照明回波信号物理模型，介绍了光束瞄准误差估计理论。
建立了目标主动照明回波信号传输仿真系统。模拟了光信号从发射到接收的整个物理过程，包括：发射光束抖动误差和视轴偏差模拟，激光真空传输，大气湍流模拟，目标反射，散射回波传输，回波信号接收处理及闭环控制模型仿真。并利用数值仿真系统，验证了瞄准误差估计理论，并从样本容量、抖动误差、视轴偏差变化等角度分析了各个瞄准误差估计算法的估计精度和适用范围。仿真结果表明，最大似然估计算法性能优良，估计精度最高；修正的矩估计算法适合于弱湍流大气环境中的瞄准误差估计。
针对当前瞄准误差估计算法视轴偏差方向估计难题，提出三角扫描算法，推导了该算法的闭环瞄准精度克拉美劳(CRLB)下限，并进行了仿真分析和验证。结果表明：三角扫描算法可以实现基于回波信号的光束闭环瞄准，且瞄准精度接近CRLB下限。该算法首次利用瞄准误差估计实现了光束闭环瞄准。
搭建了基于回波信号光束瞄准系统室内平台。提出以回波样本均值作为寻优算法的信号探测点，利用二维爬山算法完成了基于回波信号的光束闭环瞄准实验，分析了爬山算法对光束抖动误差的抗干扰能力。对最大似然估计算法进行了实验验证，利用三角扫描算法完成了基于回波信号的光束闭环瞄准实验，并分析了瞄准残差精度及影响因素。
建立了目标照明回波信号噪声模型。给出回波信号的归一化模型，消除了光源起伏噪声、传输距离变化、跟踪天顶角变化等对回波信号的影响。提出等效光束远场辐射角分布参数，解决了扩展目标对回波信号分布的影响。分析了漫反射目标回波散斑对回波信号测量的影响，给出了基于回波信号的瞄准系统中回波散斑的抑制方案，并进行了仿真验证，为室外实验回波信号处理打下了理论基础。
为了研究大气环境下基于回波信号光束瞄准技术的性能，搭建了目标照明回波瞄准室外实验平台，包括：脉冲激光发射系统，基于距离选通的回波信号接收系统，基于Labview的实验控制系统。在室外大气环境下，验证了瞄准误差估计算法的性能，基于三角扫描算法实现了光束闭环瞄准，分析了瞄准残差精度。
最后，针对基于回波信号的光束瞄准技术的工程应用问题，提出了两种应用设计方案，为今后该技术的工程应用奠定了一定的基础。
Laser applications including active tracking and free-space laser communicationrequire high precise pointing control. However, when the laser beam is illuminating thetarget, the pointing errors due to the limitations of the tracking system, mechanicalvibration, atmosphere turbulence, and the optical misalignment, will cause pointingoff-axis and the energy loss on the target. Determining of these errors has historically adifficult problem-especially for a non-cooperative target, most of which are in a state ofopen-loop pointing. In order to explore a method of pointing errors estimation andclosed-loop pointing realization with the non-cooperative target, this paper studies thepointing technology using return photon signal.
In this paper, the history of pointing technology using return photon signal isreviewed and the significance of this research is pointed out based on the applicationsand trends. Then, this novel pointing technology is introduced according to a fieldactive illumination experiment. A physical model of return photon signal is given.And the theory of pointing errors estimation is described.
A numerical simulation system is established for the return photon signal withactive illuminating the target. The entire physical process of photons from the emissionto reception is simulated, which contains boresight and jitter, vacuum laser transmitting,atmospheric turbulence, reflecting process of target, scattering photons transmission,return photon signal processing, and closed-loop control simulation. Based on thesimulation system, the theory of pointing errors estimation is verified and theperformance of every estimation algorithm is analyzed according to sample size, jitterand boresight.
In order to estimate the direction of boresight error, a triangular scan algorithm ispresented. And the Cramer-Rao lower bounds (CRLB) performance of the triangularscan algorithm is induced in closed-loop pointing applications. The simulation resultsdemonstrate that the closed-loop pointing using return photon signal can be realized bythe triangular scan algorithm, and the performance closes to the CRLB. The closed-looplaser pointing with the pointing errors estimation is realized by this method for the firsttime.
A laboratory platform for the laser pointing system is set up. Then, a closed-loop pointing experiment is realized using two-dimensional hill-climbing algorithm based onthe return photon signal. And the anti-jamming capability of hill-climbing algorithm isanalyzed. What’s more, the experimental verification of maximum likelihood estimationis given. Mean while, a closed-loop targeting experiments by triangular scanningalgorithms is presented. And the performance of this method is analyzed from residualsaccuracy.
A noise model of return photon signal is established. Then, in order to eliminate theenergy fluctuation of laser source, transmission distance changing and tracking zenithchanging, a normalization model of return photon signal is given. Secondly, in order tosolve the distribution changing of return photon signal when illuminating extendedtarget, an equivalent far field distribution parameter of laser beam is proposed. Thirdly,the impact of the speckle noise reflecting from diffuse target for the return photon signalmeasurement is described. A scheme for lessening the speckle noise is given andverified with simulations. All of the work done above laid a theoretical foundation forfield experiment.
In order to study the performance of the pointing technology using return photonsignal in the atmospheric environment, a field experiment platform is set up, whichcontains: pulse laser launch system, return photon signal reception system based onrange gating, and a control system on Labview platform. Under the field environment,the performance of the pointing errors estimation and triangular scanning algorithm isverified. And a closed-loop pointing experiment is realized based on return photonsignal.
Finally, for the problem of pointing technology using return photon signal inengineering applications, two novel designs are proposed. These solutions laid thefoundation for the engineering realization of this pointing technology.
本文首先回顾了基于回波信号的光束瞄准技术的研究历史，结合该瞄准技术的应用目的和发展趋势，指出了相关研究工作的重要意义。然后根据目标主动照明实验引出了基于回波信号的光束瞄准技术理论，给出了主动照明回波信号物理模型，介绍了光束瞄准误差估计理论。
建立了目标主动照明回波信号传输仿真系统。模拟了光信号从发射到接收的整个物理过程，包括：发射光束抖动误差和视轴偏差模拟，激光真空传输，大气湍流模拟，目标反射，散射回波传输，回波信号接收处理及闭环控制模型仿真。并利用数值仿真系统，验证了瞄准误差估计理论，并从样本容量、抖动误差、视轴偏差变化等角度分析了各个瞄准误差估计算法的估计精度和适用范围。仿真结果表明，最大似然估计算法性能优良，估计精度最高；修正的矩估计算法适合于弱湍流大气环境中的瞄准误差估计。
针对当前瞄准误差估计算法视轴偏差方向估计难题，提出三角扫描算法，推导了该算法的闭环瞄准精度克拉美劳(CRLB)下限，并进行了仿真分析和验证。结果表明：三角扫描算法可以实现基于回波信号的光束闭环瞄准，且瞄准精度接近CRLB下限。该算法首次利用瞄准误差估计实现了光束闭环瞄准。
搭建了基于回波信号光束瞄准系统室内平台。提出以回波样本均值作为寻优算法的信号探测点，利用二维爬山算法完成了基于回波信号的光束闭环瞄准实验，分析了爬山算法对光束抖动误差的抗干扰能力。对最大似然估计算法进行了实验验证，利用三角扫描算法完成了基于回波信号的光束闭环瞄准实验，并分析了瞄准残差精度及影响因素。
建立了目标照明回波信号噪声模型。给出回波信号的归一化模型，消除了光源起伏噪声、传输距离变化、跟踪天顶角变化等对回波信号的影响。提出等效光束远场辐射角分布参数，解决了扩展目标对回波信号分布的影响。分析了漫反射目标回波散斑对回波信号测量的影响，给出了基于回波信号的瞄准系统中回波散斑的抑制方案，并进行了仿真验证，为室外实验回波信号处理打下了理论基础。
为了研究大气环境下基于回波信号光束瞄准技术的性能，搭建了目标照明回波瞄准室外实验平台，包括：脉冲激光发射系统，基于距离选通的回波信号接收系统，基于Labview的实验控制系统。在室外大气环境下，验证了瞄准误差估计算法的性能，基于三角扫描算法实现了光束闭环瞄准，分析了瞄准残差精度。
最后，针对基于回波信号的光束瞄准技术的工程应用问题，提出了两种应用设计方案，为今后该技术的工程应用奠定了一定的基础。
Laser applications including active tracking and free-space laser communicationrequire high precise pointing control. However, when the laser beam is illuminating thetarget, the pointing errors due to the limitations of the tracking system, mechanicalvibration, atmosphere turbulence, and the optical misalignment, will cause pointingoff-axis and the energy loss on the target. Determining of these errors has historically adifficult problem-especially for a non-cooperative target, most of which are in a state ofopen-loop pointing. In order to explore a method of pointing errors estimation andclosed-loop pointing realization with the non-cooperative target, this paper studies thepointing technology using return photon signal.
In this paper, the history of pointing technology using return photon signal isreviewed and the significance of this research is pointed out based on the applicationsand trends. Then, this novel pointing technology is introduced according to a fieldactive illumination experiment. A physical model of return photon signal is given.And the theory of pointing errors estimation is described.
A numerical simulation system is established for the return photon signal withactive illuminating the target. The entire physical process of photons from the emissionto reception is simulated, which contains boresight and jitter, vacuum laser transmitting,atmospheric turbulence, reflecting process of target, scattering photons transmission,return photon signal processing, and closed-loop control simulation. Based on thesimulation system, the theory of pointing errors estimation is verified and theperformance of every estimation algorithm is analyzed according to sample size, jitterand boresight.
In order to estimate the direction of boresight error, a triangular scan algorithm ispresented. And the Cramer-Rao lower bounds (CRLB) performance of the triangularscan algorithm is induced in closed-loop pointing applications. The simulation resultsdemonstrate that the closed-loop pointing using return photon signal can be realized bythe triangular scan algorithm, and the performance closes to the CRLB. The closed-looplaser pointing with the pointing errors estimation is realized by this method for the firsttime.
A laboratory platform for the laser pointing system is set up. Then, a closed-loop pointing experiment is realized using two-dimensional hill-climbing algorithm based onthe return photon signal. And the anti-jamming capability of hill-climbing algorithm isanalyzed. What’s more, the experimental verification of maximum likelihood estimationis given. Mean while, a closed-loop targeting experiments by triangular scanningalgorithms is presented. And the performance of this method is analyzed from residualsaccuracy.
A noise model of return photon signal is established. Then, in order to eliminate theenergy fluctuation of laser source, transmission distance changing and tracking zenithchanging, a normalization model of return photon signal is given. Secondly, in order tosolve the distribution changing of return photon signal when illuminating extendedtarget, an equivalent far field distribution parameter of laser beam is proposed. Thirdly,the impact of the speckle noise reflecting from diffuse target for the return photon signalmeasurement is described. A scheme for lessening the speckle noise is given andverified with simulations. All of the work done above laid a theoretical foundation forfield experiment.
In order to study the performance of the pointing technology using return photonsignal in the atmospheric environment, a field experiment platform is set up, whichcontains: pulse laser launch system, return photon signal reception system based onrange gating, and a control system on Labview platform. Under the field environment,the performance of the pointing errors estimation and triangular scanning algorithm isverified. And a closed-loop pointing experiment is realized based on return photonsignal.
Finally, for the problem of pointing technology using return photon signal inengineering applications, two novel designs are proposed. These solutions laid thefoundation for the engineering realization of this pointing technology.
引文
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