Design Of Pose Detection System Based On Double Two-dimensional PSD

In modern high-technology warfare,guidance technology has become important strategic threat forces,which determines the strategic deterrence of the country.The seeker and the detection system in the Semi-active laser guidance system jointly realize the target micro-displacement and micro-angle detection.The research to improve the detection accuracy mainly focuses on the selection of the detector and the design of the probe optical path.Among the detectors selected,the Quadrant Detector(QD),the Charge-Coupled Device(CCD),and the Position Sensitive Detector(PSD)are widely used.Among them,QD is susceptible to atmospheric media and has a detection dead zone.CCD have low response velocity,high cost,and stringent requirements for spot shape.PSD has low cost,fast response,and no limitation on spot size and shape,so it is suitable for high precision guidance systems.In the design of the detection optical path,the traditional pose detection methods include Optical triangulation,Laser interference and Optical autocollimating.Among them,the triangulation method has large loss of light energy,and the detection precision is low for complex surfaces.The laser interference method has a complicated structure and high cost.While the Optical autocollimating has high precision,the real-time performance is poor and the volume is large.In order to solve the problems of low precision,large volume and poor real-time performance,a pose detection of the guidance simulation system based on two-dimensional PSD is designed.The position and angle information of the target is obtained by using two PSDs in parallel to improve the response speed.At the same time,this paper improves the traditional Optical autocollimating detection method,and designs a compact main light path by using two PSD and self-folding optical path structure.After the optical system design and ZEMAX optimization,the aberration is reduced,and the concentrated and evenly distributed light spot is obtained,which ensures the high precision of the detection system.Then,the analog current signal is digitized and transmitted to the microcomputer through the A/D converter.The microcomputer uploads the processed angle and displacement value to the host computer through the serial port,and finally realizes the compact and high real-time performance of the pose detection system.Based on the displacement and deflection values of the measurement target,a dual PSD-based algorithm is proposed,which can use the display values of two PSDs on the host computer to judge the motion state of the laser.In the test of the detection system,the system uses a laser as a target source to simulate a target indicator in a semi-active guidance system,the stepper motor is used to record the displacement of the laser on the x and y axes,and the FSM is used to change the angle of the laser.The position resolution and angular resolution are obtained by comparing theoretical values with measured values.At the same time,the response time of the detection system can be obtained by recording the time stamp.It is shown that,the position detection accuracy of pose detection system is on the order of μm,the angle detection accuracy is on the order of μrad,the response time can reach 10 ms,and the system volume is 110 mm×80 mm×45 mm.The system can detect the position and angle of the target at the same time,and can judge the motion state of the target.It is a high-precision,compact and real-time pose detection system.