Principle and research progress of four-quadrant detector spot detection
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摘要: 光斑检测技术在现代科学研究与应用中扮演着重要角色，四象限探测器由于其具有探测灵敏度高、信号处理简单和抗干扰能力强等优点，在光斑检测技术中得到了广泛的应用，是捕获、跟踪和瞄准系统中的关键器件。首先介绍了光斑检测中常用的光斑模型和四象限探测器检测光斑原理，然后分析了国内外在四象限探测器检测光斑方面的研究成果，以及影响四象限探测器检测光斑精度的因素和常用的光斑检测算法，同时介绍了四象限探测器的光斑检测系统,包括光束对准检测系统、四象限探测器跟踪通信复合系统和微纳激光通信系统。最后，展望了光斑检测技术的发展前景。Abstract: Spot detection technology plays an important role in modern scientific research and application. Due to its advantages of high detection sensitivity, simple signal processing, and strong anti-interference ability, four-quadrant detectors have been widely used in spot detection technology and are the key components in acquisition, tracking, and pointing systems. Firstly, the spot models commonly used in spot detection and the principle of four-quadrant detector spot detection were introduced. Then, the research results of four-quadrant detector spot detection at home and abroad, as well as the factors affecting the accuracy of four-quadrant detector spot detection and the commonly-used spot detection algorithms were analyzed. The four-quadrant detector spot detection system was introduced, including the beam alignment detection system, four-quadrant detector tracking communication composite system and micro-nano laser communication system. Finally, the development prospects of spot detection technology was prospected.
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Key words:
- spot detection /
- four-quadrant detector /
- spot model /
- spot detection algorithm
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图 7 LUCE终端的内部结构示意图[17]
Fig. 7 Schematic diagram of internal structure of LUCE terminal
图 10 基于象限APD的激光跟踪系统示意图[20]
Fig. 10 Schematic diagram of laser tracking system based on quadrant APD
图 18 不同比例背景光下的QD输出值[33]
Fig. 18 QD output values under different scales of background light
图 19 不同系统信噪比下光斑位置标准差的变化曲线[28]
Fig. 19 Variation curve of standard deviation of spot position under different SNR
图 20 不同定位算法下的仿真对比
Fig. 20 Simulation comparison under different positioning algorithms
图 21 各象限响应均匀度不同时对QD输出的影响[33]
Fig. 21 Effect of different quadrant response uniformity on QD output
图 28 微纳激光通信终端系统结构示意图[53]
Fig. 28 Structure diagram of micro nano laser communication terminal system
表 1 三种探测器的对比[13]
Table 1 Comparison of three detectors
参数 QD CCD PSD 性能 可靠 可靠 可靠 驱动电路 复杂 较复杂 简单 信号处理 复杂 复杂 简单 噪声处理 外电路窄带滤波 复杂 外电路窄带滤波 响应时间 <4 ns 1 μs左右 0.5 μs左右 极限分辨率 0.01 μm 像元间距（几微米） 0.3 μs 
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表 2 光斑检测影响因素研究进展总结
Table 2 Summary of research progress on influencing factors of spot detection
年份 研究人员 研究内容 2007 徐代升 提出了光斑大小优化设计，改善系统性能 2010 赵馨等人 研究了QD的各种性能及外部环境对其性能的影响，并进行了实验测试 2015 张辉等人 推导出高斯光斑模型下位置检测精度的数学模型 2016 张骏等人 对QD定位误差的影响进行了研究，并提出了相应的修正方法 2017 李世艳 提出了一种光斑检测方法，减小了检测误差 2021 李树德等人 研究噪声因素对QD光斑位置定位的影响 2022 刁宽等人 建立了光斑半径、能量分布和探测器死区等影响因素下QD输出与光斑位置的表征方程
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表 3 光斑检测算法研究进展总结
Table 3 Summary of research progress on spot detection algorithms
年份 研究人员 研究内容 2009 陈勇等人 提出将插值法和对角线算法相结合的一种改进算法，将测角误差控制在0.1°之内 2012 司栋森等人 提出了增益可调的快速跟踪定位算法，将跟踪精度提高到0.049 7 mm 2012 陈梦苇等人 对各种光斑模型讨论了和差、对角线、Δ/Σ和对数四种算法，并进行了比较 2015 WU J B
等人提出了Composite拟合算法，提高了测量精度 2017 郭小康等人 简化了二段式多项式拟合算法，将精度提高到10−4 mm数量级 2021 苟晔鹏等人 提出了基于无穷积分拟合方法的改进算法，提高了灵敏度 2021 秦立存等人 改进高斯光斑模型下的定位算法，均方根误差减小60.4%
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表 4 光斑检测系统研究进展总结
Table 4 Summary of research progress on spot detection systems
年份 研究人员 研究内容 2003 王岱等人 设计了双轴跟踪控制试验演示系统 2013 ZHANG W
等人研制了一种利用QD做光斑检测探测器的小型激光跟踪系统 2017 范新坤等人 提出了使用雪崩二极管型QD实现跟踪与通信复用的方案，角分辨率为0.8 μrad 2018 林鑫等人 设计了一套基于QD的激光束二维扫描跟踪系统，并进行了测试 2019 刘思鸣等人 提出了一种基于QD的激光跟踪系统，跟踪误差约为0.1% 2019 王睿扬等人 设计数字跟踪通信复合接收机，探测灵敏度为−30 dBm 2020 王淋正等人 提出了一种中心开孔型四象限探测器光纤定位技术，并设计了定位算法 2021 KE X Z等人 设计了一种新型机载激光通信结构 2022 陈韵等人 设计微纳激光通信终端，跟踪误差为84 μrad
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表 5 光斑检测算法总结
Table 5 Summary of spot detection algorithms
函数名称 优点 缺点 加减算法 灵敏度和线性范围较为平衡 线性范围较窄 对角线算法 线性范围较宽 灵敏度较低 差比和算法 灵敏度高 线性范围窄 对数算法 线性范围宽 灵敏度较差 函数拟合法 简单、易实现 拟合效果取决于拟合函数 归一化中心法 公式简单、计算速度快、对硬件要求较低 使用范围小 多项式拟合法 检测范围较大、检测精度较高 公式复杂、对硬件要求高 无穷积分法 检测精度较高 未考虑探测器死区和大小，检测误差较高 Boltzmann函数拟
合法检测精度较高 检测误差较高 Composite拟合算法 检测误差较低、检测精度高 精度难以再次提升 无穷积分拟合改进算法 检测精度高、计算量小，对硬件要求较低 反求导过程较为困难，适应范围小
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