CN117741562A - High-precision inter-satellite relative positioning system and method based on femtosecond optical comb tracking measurement - Google Patents
High-precision inter-satellite relative positioning system and method based on femtosecond optical comb tracking measurement Download PDFInfo
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Abstract
The invention provides a novel high-precision inter-satellite relative positioning system and method based on femtosecond optical comb tracking measurement, wherein a femtosecond optical comb modulation system provides a high-stability modulation light source; the optical system is used for laser remote transmission and actively tracking a moving cooperative target, so that a laser primary path returns and is further detected by the photoelectric detector, and the ranging range, the ranging precision and the tracking precision are ensured; the circuit system is used for measuring the distance with high precision, outputting a feedback control signal of the quick reflection mirror when the position sensitive detector points to the angle measurement, converting the acquired position offset information into angle deflection information and sending the angle deflection information to the feedback circuit to obtain the high-precision angle measurement information, so that the pointing direction of the laser beam is quickly adjusted, and the dynamic real-time precise tracking angle measurement of the target ball is realized. And finally, fusing high-precision ranging and angle measuring results, calculating a three-dimensional position, and completing the inter-satellite relative positioning. The invention has high precision, long range and good real-time performance, and can meet the remote measurement requirement of a high-precision inter-satellite relative positioning system.
Description
Technical Field
The invention relates to the technical field of precise optical measurement and detection, in particular to a high-precision inter-satellite relative positioning system and method based on femtosecond optical comb tracking measurement.
Background
The high-precision inter-satellite relative positioning system and the method can be widely applied to satellite precision formation flight tasks such as distributed interference synthetic aperture radar (InSAR), virtual space telescope and the like.
Generally, the relative positioning among satellites of a distributed satellite precision formation flight mission is mainly based on GNSS carrier phase difference, and the precision of the relative positioning can reach the mm level. However, the method needs post-processing of the data of the inter-satellite link, has poor measurement instantaneity, is limited by the influence of inter-satellite time synchronization and multipath effect, and has the advantages that the inter-satellite relative positioning precision is difficult to further improve, and the task efficiency of satellite formation is greatly limited. The laser tracking positioning technology combines laser precise ranging and angle measurement, has the advantages of long measurement distance, high precision and active tracking measurement, and is expected to overcome the defects that the relative positioning precision of the existing GNSS is difficult to further improve and the real-time performance is poor. However, the existing laser tracking method is directly applied to inter-satellite positioning and has the problems of light interruption and connection delay, insufficient measurement range, poor tracking pointing precision and the like.
Disclosure of Invention
The invention aims to provide a high-precision inter-satellite relative positioning system and method based on femtosecond optical comb tracking measurement, which overcome the defects of insufficient measurement range, poor tracking pointing precision and insufficient instantaneity in the existing inter-satellite relative positioning technology and provide a new approach for breaking through the bottleneck of the real-time inter-satellite relative positioning technology with large range, high precision and no intermittent optical connection delay.
In order to achieve the above object, the present invention provides an inter-satellite relative positioning system, comprising: the system comprises a femtosecond optical comb modulation system, an optical system, a circuit system and a cooperation target;
the femtosecond optical comb modulation system is used for providing a femtosecond optical comb modulation light source for inter-satellite ranging and PSD position offset detection;
the optical system is used for carrying out collimation, beam expansion, receiving and transmitting isolation on the laser beams emitted by the femtosecond optical comb modulation system, carrying out position offset detection through PSD, carrying out laser beam space pointing adjustment through the quick reflector and receiving the laser beams reflected by the cooperative targets;
the circuit system is connected with the femtosecond optical comb modulation system and the optical system and is used for carrying out signal processing and sampling on the emitted and received laser beams to obtain a ranging signal and a position offset signal, carrying out fusion processing on the ranging signal and the position offset signal to obtain a tracking pointing angle, and carrying out feedback control on a quick reflection mirror according to a resolving angle result to adjust the pointing direction of the laser beams so as to realize dynamic real-time tracking on a target ball; and the three-dimensional position is calculated by fusing the ranging signal and the pointing tracking angle measurement, so that the inter-satellite relative positioning is completed.
Optionally, the femto-second optical comb modulation system adopts an electro-optical modulator to perform intensity modulation on femto-second optical combs with stable repetition frequency, obtains a plurality of frequency measuring rule signals through inter-mode beat frequency, performs multi-measuring rule synchronous phase discrimination on photoelectric detection signals based on a fast Fourier transform algorithm, and completes ranging and deblurring by combining a synthetic wavelength method phase ranging principle so as to obtain inter-satellite distance information.
Optionally, the optical system adopts a receiving-transmitting coaxial collimation beam expansion optical path to carry out laser transmission, adopts PSD to carry out target position deviation detection and angle feedback quantity calculation, and adopts a two-dimensional quick reflection mirror to carry out laser beam emission direction pointing adjustment so as to complete tracking of a combined target.
Optionally, the circuit system adopts a down-conversion, sampling, tracking and information fusion circuit for measuring distance, measuring angle, outputting feedback control signals of the fast-reflection mirror and solving information of the relative position, and realizing tracking measurement.
The inter-satellite relative positioning system of claim 1, wherein the cooperative target comprises three mutually perpendicular reflective surfaces for return of the laser beam primary path.
Optionally, when the laser primary path returns to the optical system, part of the laser is received by the photoelectric detector for ranging through the beam splitter, and the other part of the laser is received by the PSD for position offset detection and quick reflection mirror angle feedback control.
Optionally, the femtosecond optical comb modulation system, the optical path system and the circuit system are arranged in a main star, and the cooperative target is arranged in a remote target star to be measured.
The invention also provides an inter-satellite relative positioning method which is realized by adopting any inter-satellite relative positioning system, and the method comprises the following steps:
providing a femtosecond optical comb modulation light source for inter-satellite ranging and PSD position offset detection through a femtosecond optical comb modulation system;
the laser beam emitted by the femtosecond optical comb modulation system is collimated, expanded, transmitted and received by an optical system, the position deviation is detected by a PSD, the laser beam space direction is adjusted by a quick reflector, and the laser beam reflected by the cooperative target is received;
the circuit system carries out signal processing and sampling on the emitted and received laser beams to obtain a ranging signal and a position offset signal, carries out fusion processing on the ranging signal and the position offset signal to obtain a tracking pointing angle, and carries out feedback control on the quick reflection mirror according to a resolving angle result so as to adjust the pointing direction of the laser beams and realize dynamic real-time tracking on a target ball; and the three-dimensional position is calculated by fusing the ranging signal and the pointing tracking angle measurement, so that the inter-satellite relative positioning is completed.
The invention provides a relative positioning method between stars, which is realized by adopting any one of the relative positioning systems between stars, and comprises the following steps:
step 1, transmitting laser beams to a cooperative target through a femtosecond optical comb modulation system and an optical system, wherein the cooperative target reflects the laser beams and returns in an original path, and then the laser beams are processed by a circuit system to finish inter-satellite ranging based on a synthetic wavelength method phase ranging principle of a multi-measuring-scale FFT;
step 2, measuring the deviation of the target of the synthetic target according to the PSD off-target amount, completing the deflection calculation of the angle of the quick reflection mirror by combining the ranging result, and controlling the deflection direction of the laser beam according to the calculation angle;
step 3, determining whether the returned light spot is positioned at the PSD center, if not, continuing to perform angle feedback control according to the PSD off-target amount until the light spot returns to the PSD center, and finishing the pointing tracking angle measurement when the off-target amount is zero;
and 4, the circuit system fuses the ranging information and the pointing tracking angle measurement information, outputs the relative position and realizes the inter-satellite relative positioning.
Compared with the prior art, the high-precision inter-satellite relative positioning system and method provided by the invention have the following beneficial effects:
the invention provides a novel high-precision inter-satellite relative positioning system and method based on femtosecond optical comb tracking measurement, wherein a femtosecond optical comb modulation system is used for providing a high-stability modulation light source and ensuring a ranging range and ranging precision; the optical system is used for laser remote transmission and actively tracking a moving cooperative target, so that a laser primary path returns and is further detected by the photoelectric detector, and the ranging range, the ranging precision and the tracking precision are ensured; the circuit system is used for high-precision ranging, pointing angle measurement of a Position Sensitive Detector (PSD) and outputting a quick-reflection mirror feedback control signal, and converts the acquired position offset information into angle deflection information and sends the angle deflection information to the feedback circuit to obtain final high-precision angle measurement information, so that the pointing direction of a laser beam is quickly adjusted, and the dynamic real-time precise tracking angle measurement of a target ball is realized. And finally, fusing high-precision ranging and angle measuring results to calculate the three-dimensional position, and completing the inter-satellite relative positioning.
The invention adopts a femtosecond optical comb intensity modulation synthesis wavelength method, obtains phase information of different measuring scales based on high-precision synchronous phase discrimination of Fast Fourier Transform (FFT) multi-measuring-scale combination to carry out synthesis wavelength ranging, can overcome the defect of light interruption and continuous connection delay existing in laser interference ranging, solves the problems of restricting the measurement precision, the measurement range and the measurement speed of the current femtosecond optical comb ranging technology, and completes micron-scale precision ranging of a remote angle cooperative target. The laser auto-collimation fast reflecting mirror is adopted to carry out high-precision angle measurement, and the high-sensitivity PSD is combined to carry out large-range high-precision position offset detection on the moving target, so that precise tracking is realized, and sub-angle second pointing angle precision is obtained. The high-precision inter-satellite relative positioning can be completed by fusing the micrometer precision distance and the sub-angle second precision angle information. The invention is based on the characteristics of high ranging precision, high precision of the quick reflection mirror and PSD pointing tracking angle measurement and high data updating speed of the femto-second optical comb synthetic wavelength method, and can realize the sub-millimeter-level high-precision real-time inter-satellite relative positioning in the inter-satellite range of hundred meters.
The high-precision inter-satellite relative positioning system and the method provided by the invention have the advantages of high precision, long range and good real-time performance, and can meet the remote measurement requirement of the high-precision inter-satellite relative positioning system. The invention can be widely applied to the precise formation flight tasks of satellites such as distributed interference synthetic aperture radar (InSAR), virtual space telescope and the like.
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For a clearer description of the technical solutions of the present invention, the drawings that are needed in the description will be briefly introduced below, it being obvious that the drawings in the following description are one embodiment of the present invention, and that, without inventive effort, other drawings can be obtained by those skilled in the art from these drawings:
FIG. 1 is a block diagram of a high-precision inter-satellite relative positioning system according to an embodiment of the present invention;
fig. 2 is a flowchart of a high-precision inter-satellite relative positioning method according to an embodiment of the present invention.
Detailed Description
The following describes in further detail a high-precision inter-satellite relative positioning system and method provided by the invention with reference to fig. 1-2 and detailed description. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for the purpose of facilitating and clearly aiding in the description of embodiments of the invention. For a better understanding of the invention with objects, features and advantages, refer to the drawings. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that any modifications, changes in the proportions, or adjustments of the sizes of structures, proportions, or otherwise, used in the practice of the invention, are included in the spirit and scope of the invention which is otherwise, without departing from the spirit or essential characteristics thereof.
As described in the background art, the conventional inter-satellite relative positioning is mainly based on GNSS carrier phase difference, and the precision of the conventional inter-satellite relative positioning can reach the mm level. However, the method needs post-processing of the data of the inter-satellite link, has poor measurement instantaneity, is limited by the influence of inter-satellite time synchronization and multipath effect, and has the advantages that the inter-satellite relative positioning precision is difficult to further improve, and the task efficiency of satellite formation is greatly limited. The laser tracking positioning technology combines precise ranging and angle measurement, has the advantages of long measurement distance, high precision and active tracking measurement, and is expected to overcome the defects that the relative positioning precision of the existing GNSS is difficult to further improve and the real-time performance is poor. However, the existing laser tracking method is directly applied to inter-satellite positioning and has the problems of light interruption and connection delay, insufficient measurement range, poor tracking pointing precision and the like.
Based on the problems, the invention provides a high-precision inter-satellite relative positioning system and method based on femtosecond optical comb tracking measurement, which are used for solving the problems of light interruption and continuous connection delay, insufficient measurement range, poor tracking pointing precision and the like in the existing inter-satellite relative positioning technology.
Referring to fig. 1, a high-precision inter-satellite relative positioning system according to an embodiment of the invention includes a femto-second optical comb modulation system S10, an optical system S20, a circuit system S30 and a cooperative target S40.
The femtosecond optical comb modulation system S10 works together with the optical system S20 and is used for transmitting and spatially transmitting high-stability modulated laser signals, and the circuit system S30 is connected with the femtosecond optical comb modulation system S10 and the optical system S20 and is used for detecting and processing the laser signals reflected by the cooperative targets S40.
The femtosecond optical comb modulation system S10 comprises a frequency stabilization femtosecond laser, an atomic clock, a modulation drive and an electro-optical modulator (EOM) and is used for providing a high-stability femtosecond optical comb modulation light source for inter-satellite large-range precise ranging and PSD precise position detection.
The optical system S20 includes a collimator, a half-wave plate, a polarization beam splitter, a 1/4 wave plate, a beam expander, a beam splitter, a lens, a PSD (position sensitive detector), a fast reflector, and a reference/measurement photodetector, and is configured to perform collimation, beam expansion, transmit and receive isolation on a laser beam emitted by the femto-second optical comb modulation system, perform position offset detection with the PSD, perform spatial orientation adjustment on the laser beam by the fast reflector, ensure quality of a remote transmission beam, and receive the laser beam reflected by the cooperative target S40.
The circuit system S30 comprises AD sampling, multipath synchronous FFT phase demodulation, fast reflection mirror control signal output and relative position calculation, and is used for high-precision ranging, PSD pointing angle measurement and fast reflection mirror feedback control signal output, so that the pointing of a laser beam is quickly adjusted, and the dynamic real-time precise tracking angle measurement of a target ball is realized. Meanwhile, the high-precision ranging and angle measuring results are fused, the three-dimensional position is calculated, and the inter-satellite relative positioning is completed.
The cooperative target S40 includes three mutually perpendicular reflecting surfaces, so that the original return of the emitted laser beam can be ensured, and meanwhile, a proper metal coating is adopted, so that the high reflectivity in the laser beam band can be ensured.
Preferably, the femto second optical comb modulation light source S10 and the circuit system S30 use intensity modulation femto second optical comb inter-mode beat frequency to generate multi-measuring-scale signals, the multi-measuring-scale synchronous phase discrimination is performed on the photoelectric signals based on a fast fourier transform algorithm, the phase ranging principle of a synthetic wavelength method is combined to complete large-scale precise ranging and defuzzification, additional auxiliary rough measurement and adjustment of laser repetition frequency are not needed, the problem of light interruption and continuous connection is avoided, and the real-time measurement performance is improved. And can realize micron-scale precision real-time ranging within the range of hundred meters.
Preferably, the optical path system S20 performs precise pointing tracking on the laser beam by using a fast mirror and a PSD, and the PSD can realize micrometer level position offset detection, thereby realizing sub-angle second level precise pointing. The angle measurement precision and tracking real-time performance are improved by combining the sub-angle second precision and the hundreds of hertz control bandwidth fast reflection mirror, realizing high-precision fast pointing tracking, breaking through the problems of lower precision of the traditional laser turntable tracking measurement angle and low tracking speed. The sub-angle second level precision real-time angle measurement within the range of hundreds of meters can be realized.
In one example, the femtosecond optical comb modulation light source S10 and the optical path system S20 are adopted to realize efficient receiving and transmitting of the laser beams, the emitted laser beams are returned in an original path by the cooperative target S40, and precise ranging, pointing tracking and final relative positioning are performed through the circuit system S30. Specifically, the femtosecond optical comb modulation system S10, the optical path system S20 and the circuit system S30 are arranged at one end of a main satellite, and the cooperative target S40 is arranged at the other end of a remote target satellite to be detected, so that precise tracking and relative positioning can be conveniently performed between the satellites at any position in a remote range.
The femtosecond optical comb modulation system S10 carries out repetition frequency stabilization on the femtosecond laser through an atomic clock, the modulation drive controls the modulation frequency of an electro-optical modulator (EOM), a low-frequency modulation signal (not exceeding 1 MHz) is generated after power is applied, the laser beam emitted by the S10 is collimated and expanded through the optical path system S20, and after being combined as a target S40 and photoelectric detection, the large-range coarse ranging of hundred meters is completed through the circuit system S30 based on the femtosecond optical frequency comb repetition frequency (200 MHz) and modulation sidebands thereof. Meanwhile, a high-frequency high-order harmonic signal (for example, more than or equal to 800 MHz) is selected as a precise measuring ruler through the circuit system S30 to carry out precise distance measurement, and micrometer-level precise distance measurement can be realized.
In the optical path system S20, PSD position deviation detection precision can reach micron level, tracking deflection angle can be calculated by combining distance information, and the tracking deflection angle is sent to the quick reflection mirror through the circuit system S30, so that sub-angle second level quick real-time tracking of the cooperative target S40 is realized. Considering that the size of the long-distance transmission light spot is larger, the caliber of the fast reflection mirror is larger, and the tracking bandwidth of the fast reflection mirror is in the order of hundred hertz.
The circuit system S30 fuses the precise ranging and angle measuring information to acquire high-precision inter-satellite relative positioning information.
When the method is applied, firstly, proper modulation amplitude and modulation frequency are set for EOM in the femtosecond optical comb modulation light source S10, and the circuit system S30 carries out synchronous phase discrimination of multiple measuring gauges based on Fast Fourier Transform (FFT) on the photoelectric detection signals obtained by the femtosecond optical comb modulation system S10, so that large-range precise real-time ranging of a femtosecond optical comb synthesis wavelength method is completed. Then, the PSD in the optical system S20 performs precise position offset detection, and completes the feedback angle control of the quick mirror in combination with the precise distance information. If the off-target quantity still exists on the PSD, the pointing angle of the quick reflection mirror is continuously controlled based on the off-target quantity of the PSD until the return light spot is positioned at the center of the PSD, and the angle measured by the quick reflection mirror is the angle measurement information of the high-precision inter-satellite relative positioning system. Based on the above, the circuit system S30 fuses the ranging and angle measurement information, and can acquire the relative positioning information of the high-precision inter-satellite relative positioning system.
Based on the same inventive concept, the invention also provides a high-precision inter-satellite relative positioning method, which adopts the high-precision inter-satellite relative positioning system based on femtosecond optical comb tracking measurement as described above to realize the flow, as shown in fig. 2, and comprises the following steps:
step 1, emitting laser beams to a cooperative target through a femtosecond optical comb modulation system and an optical system, wherein the cooperative target reflects the laser beams, returns through an optical system primary path, is processed by a circuit system, and finishes remote inter-satellite precise ranging based on a synthetic wavelength method phase ranging of a multi-measuring-scale FFT;
step 2, measuring the PSD off-target amount and synthesizing target offset, and combining the femtosecond optical comb precise ranging result to finish the rapid-reflection mirror angle deflection calculation, and precisely controlling the laser beam deflection direction according to the calculation angle;
step 3, determining whether the light spot returns to the PSD center, if not, continuing to perform angle feedback control according to the PSD off-target amount until the light spot returns to the PSD center, and finishing precise pointing tracking angle measurement when the off-target amount is zero;
and 4, fusing the femtosecond optical comb precise ranging information and the quick reflection mirror and PSD precise pointing tracking angle measurement information by the circuit system, outputting a relative position, and realizing high-precision inter-satellite relative positioning.
In summary, the invention provides a high-precision inter-satellite relative positioning system and method, which adopts a femtosecond optical comb intensity modulation synthetic wavelength method to acquire phase information of different measuring scales based on high-precision synchronous phase discrimination of Fast Fourier Transform (FFT) multi-measuring scale combination to perform synthetic wavelength ranging, so that the defect of continuous connection delay of broken light existing in laser interference ranging can be overcome, the problems of measurement precision, measurement range and measurement speed of the current restriction of the femtosecond optical comb ranging technology are solved, and micron-scale precision ranging of a remote angle cooperative target is completed. The laser auto-collimation fast reflecting mirror is adopted to carry out high-precision angle measurement, and the high-sensitivity PSD is combined to carry out large-range high-precision position offset detection on the moving target, so that precise tracking is realized, and sub-angle second pointing angle precision is obtained. The high-precision inter-satellite relative positioning can be completed by fusing the micrometer precision distance and the sub-angle second precision angle information. The invention is based on the characteristics of high ranging precision, high precision of the quick reflection mirror and PSD pointing tracking angle measurement and high data updating speed of the femto-second optical comb synthetic wavelength method, and can realize the sub-millimeter-level high-precision real-time inter-satellite relative positioning in the inter-satellite range of hundred meters.
The high-precision inter-satellite relative positioning system and the method provided by the invention have the advantages of high precision, long range and good real-time performance, and can meet the remote measurement requirement of the high-precision inter-satellite relative positioning system. The invention can be widely applied to the precise formation flight tasks of satellites such as distributed interference synthetic aperture radar (InSAR), virtual space telescope and the like.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
While the present invention has been described in detail through the foregoing description of the preferred embodiment, it should be understood that the foregoing description is not to be considered as limiting the invention. Many modifications and substitutions of the present invention will become apparent to those of ordinary skill in the art upon reading the foregoing. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (9)
1. An inter-satellite relative positioning system, comprising: the system comprises a femtosecond optical comb modulation system, an optical system, a circuit system and a cooperation target;
the femtosecond optical comb modulation system is used for providing a femtosecond optical comb modulation light source for inter-satellite ranging and PSD position offset detection;
the optical system is used for carrying out collimation, beam expansion, receiving and transmitting isolation on the laser beams emitted by the femtosecond optical comb modulation system, carrying out position offset detection through PSD, carrying out laser beam space pointing adjustment through the quick reflector and receiving the laser beams reflected by the cooperative targets;
the circuit system is connected with the femtosecond optical comb modulation system and the optical system and is used for carrying out signal processing and sampling on the emitted and received laser beams to obtain a ranging signal and a position offset signal, carrying out fusion processing on the ranging signal and the position offset signal to obtain a tracking pointing angle, and carrying out feedback control on a quick reflection mirror according to a resolving angle result to adjust the pointing direction of the laser beams so as to realize dynamic real-time tracking on a target ball; and the three-dimensional position is calculated by fusing the ranging signal and the pointing tracking angle measurement, so that the inter-satellite relative positioning is completed.
2. The inter-satellite relative positioning system according to claim 1, wherein the femtosecond optical comb modulation system adopts an electro-optical modulator to perform intensity modulation on a femtosecond optical comb with stable repetition frequency, obtains a plurality of frequency measuring scale signals through inter-mode beat frequency, performs multi-measuring scale synchronous phase discrimination on photoelectric detection signals based on a fast fourier transform algorithm, and combines a synthetic wavelength method phase ranging principle to complete ranging and deblurring so as to obtain inter-satellite information.
3. The inter-satellite relative positioning system according to claim 1, wherein the optical system adopts a receiving-transmitting coaxial collimation beam-expanding optical path for laser transmission, adopts a PSD for target position deviation detection and angle feedback quantity calculation, and adopts a two-dimensional quick-reflecting mirror for laser beam emission direction pointing adjustment to complete tracking of a combined target.
4. The inter-satellite relative positioning system of claim 1, wherein the circuitry employs a down-conversion, sampling, tracking, information fusion circuit for ranging, angle measurement, outputting fast-reflection mirror feedback control signals and relative position resolution information for tracking measurements.
5. The inter-satellite relative positioning system of claim 1, wherein the cooperative target comprises three mutually perpendicular reflective surfaces for return of the laser beam primary path.
6. The inter-satellite relative positioning system of claim 1, wherein when the laser primary path returns to the optical system, a part of the laser is received by the photodetector for ranging through the beam splitter, and the other part of the laser is received by the PSD for position offset detection and quick-return mirror angle feedback control.
7. The inter-satellite relative positioning system of claim 1, wherein the femtosecond optical comb modulation system, the optical path system, and the circuitry are disposed at a host satellite, and the cooperative targets are mounted to a remote target satellite to be measured.
8. An inter-satellite relative positioning method, implemented with an inter-satellite relative positioning system according to any one of claims 1-7, the method comprising:
providing a femtosecond optical comb modulation light source for inter-satellite ranging and PSD position offset detection through a femtosecond optical comb modulation system;
the laser beam emitted by the femtosecond optical comb modulation system is collimated, expanded, transmitted and received by an optical system, the position deviation is detected by a PSD, the laser beam space direction is adjusted by a quick reflector, and the laser beam reflected by the cooperative target is received;
the circuit system carries out signal processing and sampling on the emitted and received laser beams to obtain a ranging signal and a position offset signal, carries out fusion processing on the ranging signal and the position offset signal to obtain a tracking pointing angle, and carries out feedback control on the quick reflection mirror according to a resolving angle result so as to adjust the pointing direction of the laser beams and realize dynamic real-time tracking on a target ball; and the three-dimensional position is calculated by fusing the ranging signal and the pointing tracking angle measurement, so that the inter-satellite relative positioning is completed.
9. An inter-satellite relative positioning method, implemented with an inter-satellite relative positioning system according to any of claims 1-7, the method comprising the steps of:
step 1, transmitting laser beams to a cooperative target through a femtosecond optical comb modulation system and an optical system, wherein the cooperative target reflects the laser beams and returns in an original path, and then the laser beams are processed by a circuit system to finish inter-satellite ranging based on a synthetic wavelength method phase ranging principle of a multi-measuring-scale FFT;
step 2, measuring the deviation of the target of the synthetic target according to the PSD off-target amount, completing the deflection calculation of the angle of the quick reflection mirror by combining the ranging result, and controlling the deflection direction of the laser beam according to the calculation angle;
step 3, determining whether the returned light spot is positioned at the PSD center, if not, continuing to perform angle feedback control according to the PSD off-target amount until the light spot returns to the PSD center, and finishing the pointing tracking angle measurement when the off-target amount is zero;
and 4, the circuit system fuses the ranging information and the pointing tracking angle measurement information, outputs the relative position and realizes the inter-satellite relative positioning.
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