System and method for tracking targets and compensating for atmospheric turbulence
阅读说明:本技术 用于跟踪目标和补偿大气湍流的系统和方法 (System and method for tracking targets and compensating for atmospheric turbulence ) 是由 瑞吉斯·格拉塞尔 玛丽·娜米-哈比 于 2019-06-21 设计创作,主要内容包括:本发明公开了用于跟踪目标和补偿大气湍流的系统和方法。该系统包括:至少两个光源(2),其中每个光源向目标(4)发射光束(3);至少两个准直器(6),用于对相关联的光源(2)的光束(3)进行准直;参比装置(7),用于反射从所有准直器(6)出射的光束(3)的部分光束(8);至少两个瞄准模块(9),用于引导来自光源(2)的光束(3)以到达目标(4)的预定区域(10);至少两个检测模块(11),用于接收和检测由参比装置(7)反射的部分光束(8);用于确定偏差角度的模块(13);用于确定相位偏差的模块(28);以及调节模块(14),用于调节每个光源(2),以便补偿大气湍流。(The invention discloses a system and a method for tracking a target and compensating for atmospheric turbulence. The system comprises: at least two light sources (2), wherein each light source emits a light beam (3) towards a target (4); at least two collimators (6) for collimating the light beams (3) of the associated light sources (2); a reference device (7) for reflecting part (8) of the beams (3) emerging from all the collimators (6); at least two aiming modules (9) for directing a light beam (3) from a light source (2) to reach a predetermined area (10) of a target (4); at least two detection modules (11) for receiving and detecting the partial light beams (8) reflected by the reference device (7); a module (13) for determining a deviation angle; a module (28) for determining a phase deviation; and an adjustment module (14) for adjusting each light source (2) so as to compensate for atmospheric turbulence.)
1. A system for tracking targets and compensating for atmospheric turbulence,
characterized in that the system comprises:
-at least two light sources (2), each configured to emit a light beam (3) along a propagation axis (5) in an emission direction (E) towards a target (4),
-at least two collimators (6), wherein each collimator (6) is associated with a respective one of the light sources (2), wherein each collimator (6) is configured to collimate a light beam (3) of the associated light source (2),
-a reference device (7) arranged downstream of all the collimators (6) along the emission direction (E), the reference device (7) comprising a reflection plane (29) configured to reflect part beams (8) of the light beams (3) exiting from all the collimators (6),
-at least two aiming modules (9), wherein each of said aiming modules (9) is associated individually and in its entirety with one of said light sources (2), wherein each of said aiming modules (9) is configured to direct a light beam (3) from said light source (2) to reach a predetermined area (10) of said target (4),
-at least two detection modules (11), wherein each detection module (11) is associated individually and in its entirety with one of the light sources (2), wherein each detection module (11) comprises a first detection surface (12) configured to receive the partial light beam (8) reflected by the reflection plane (29) of the reference arrangement (7), the partial light beam (8) reflected by the reflection plane (29) of the reference arrangement (7) being received and detected at a current position on the first detection surface (12),
-at least two means (13) for determining deviation angles configured to determine deviation angles (β 1, β 2, β 3) respectively from spatial displacements on the first detection surface (12) between a reference position on the first detection surface (12) and the current position, the deviation angles (β 1, β 2, β 3) being determined after each aiming means (9) directs each of the light beams (3) to reach a predetermined area (10) of the target (4), wherein the deviation angles correspond to angles between the partial light beams (8) reflected by the reflection plane (29) of the reference device (7) and the propagation axis (5),
-a module (28) for determining a phase deviation configured to determine a phase deviation from deviation angles (β 1, β 2, β 3) determined by the at least two modules (13) for determining deviation angles, wherein the module (28) for determining a phase deviation is configured to determine a recombined wavefront from deviation angles (β 1, β 2, β 3), the phase deviation being determined by the module (28) for determining a phase deviation by comparing the recombined wavefront with a planar wavefront parallel to the reflection plane (29) of the reference device (7);
-at least two adjustment modules (14) configured to adjust each of said light sources (2) according to said phase deviation determined by said module for determining phase deviation (28) so as to compensate for atmospheric turbulence.
2. The system of claim 1, wherein the first and second sensors are disposed in a common housing,
characterized in that each collimator (6) comprises at least one exit pupil, wherein each collimator has an optical axis (17), wherein the optical axis (17) forms a non-zero angle (a) with the propagation axis (5) such that the propagation axis (5) and the optical axis (17) intersect on the exit pupil of each collimator (6).
3. The system of claim 2, wherein the first and second sensors are arranged in a single package,
characterized in that said non-zero angle (a) has a value greater than 0 ° and less than or equal to 5 °.
4. The system of any one of claims 1 to 3,
characterized in that each of said sighting modules (9) comprises:
a second detection surface (18) configured to receive an image (19) representative of the object (4),
-a unit (20) for positioning configured to position, on an image (19) of the target (4) received by the second detection surface (18), a position of the predetermined area (10) to be reached by the light beam (3) on the target (4) and a current position of an area that has been reached by the light beam (3),
-a unit (21) for calculating configured to calculate a movement to be made between a current position of an area that the light beam (3) has reached and a position of the predetermined area (10) to be reached on the target (4),
-a moving unit (22) configured to move the light source (2) according to the movement to be made calculated by the unit for calculating (21) such that the current position of the area that the light beam (3) has reached overlaps with the position of the predetermined area to be reached (10).
5. The system of claim 4, wherein the first and second sensors are arranged in a single package,
characterized in that the system further comprises a plate (23) arranged in the propagation axis (5), wherein the plate (23) has the following surface: the surface being configured to receive a light beam (3) from the light source (2) and to receive the image (19) representing the object (4),
and wherein said surface is capable of transmitting a light beam (3) from said light source (2) and reflecting said image (19) representing said object (4) towards said second detection surface (18).
6. The system of claim 4, wherein the first and second sensors are arranged in a single package,
characterized in that the system further comprises a plate (23) arranged in the propagation axis (5), wherein the plate (23) has the following surface: the surface being configured to receive a light beam (3) from the light source (2) and to receive the image (19) representing the object (4),
and said surface being capable of reflecting a light beam (3) from said light source (2) and transmitting said image (19) representing said object (4) towards said second detection surface (18).
7. The system of any one of claims 1 to 3,
characterized in that the system further comprises an aiming laser device (24) configured to emit an aiming laser beam (25) onto the predetermined area (10) to be reached on the target (4),
and each of said sighting modules (9) comprising:
-a second detection surface (18) configured to receive an image (26) representing a position of the aiming laser beam (25) on the target and a position of the light beam (3) on the target (4),
-a unit (20) for positioning configured to position the position of the aiming laser beam (25) on the target (4) and the current position of the light beam (3) on the target (4) on the image (26) received by the second detection surface (18),
-a unit (21) for calculating configured to calculate a movement to be made between the current position of the light beam (3) on the target (4) and the position of the aiming laser beam (25) on the target (4),
-a moving unit (22) configured to move the light source (2) according to the movement to be made calculated by the unit for calculating (21) such that the current position of the light beam (3) on the target overlaps with the position of the aiming laser beam (25) on the target.
8. The system of claim 7, wherein the first and second sensors are arranged in a single package,
characterized in that the system further comprises a plate (23) arranged in the propagation axis (5), wherein the plate (23) has the following surface: the surface being configured to receive a light beam (3) from the light source (2) and to receive the image (26) representing the position of the aiming laser beam (25) on the target and the position of the light beam (3) on the target,
and said surface being capable of transmitting a light beam (3) from said light source (2) and reflecting said image (26) representing the position of said aiming laser beam (25) on said target and the position of said light beam (3) on said target towards said second detection surface (18).
9. The system of claim 7, wherein the first and second sensors are arranged in a single package,
characterized in that the system further comprises a plate (23) arranged in the propagation axis (5), wherein the plate (23) has the following surface: the surface being configured to receive a light beam (3) from the light source (2) and to receive the image (26) representing the position of the aiming laser beam (25) on the target and the position of the light beam (3) on the target,
and said surface being capable of reflecting a light beam (3) from said light source (2) and transmitting said image (26) representing the position of said aiming laser beam (25) on said target and the position of said light beam (3) on said target towards said second detection surface (18).
10. Method of using a system (1) for tracking targets (4) and compensating for atmospheric turbulence according to any one of claims 1 to 9,
characterized in that the method comprises the following cyclically repeated steps:
-an emission step (E1) carried out by each of said light sources (2), comprising emitting a light beam (3) along a propagation axis (5) along an emission direction (E) towards said target (4),
-a step (E2) of collimating a light beam (3) carried out by each of said collimators (6), said step of collimating a light beam comprising collimating each of said light beams (3) emitted by each of said light sources (2),
-a targeting step (E3) carried out by each of said targeting modules (9), said targeting step comprising directing said light beam (3) from said light source (2) to reach a predetermined area (10) of said target (4),
-a detection step (E4) carried out by each of said detection modules (11), said detection step comprising receiving and detecting on said first detection surface (12) said partial light beam (8) reflected by said reflection plane (29) of said reference device (7) in the current position,
-a step (E5) of determining a deviation angle carried out by each of said modules (13) for determining a deviation angle, said step of determining a deviation angle comprising determining a deviation angle (β 1, β 2, β 3) from a spatial displacement on said first detection surface (12) between a reference position on said first detection surface (12) and said current position, said deviation angle (β 1, β 2, β 3) being determined after each of said aiming modules (9) directs each of said light beams (3) to reach said predetermined area (10) of said target (4), said deviation angle (β 1, β 2, β 3) corresponding to an angle between said partial light beam (8) reflected by said reflection plane (29) of said reference device (7) and said propagation axis (5),
-a step (E6) of determining a phase deviation, carried out by the module (28) for determining a phase deviation, comprising determining a phase deviation from the deviation angle (β 1, β 2, β 3) determined in the step (E5) of determining a deviation angle, the step (E6) of determining a phase deviation comprising determining a recombined wavefront from the deviation angle (β 1, β 2, β 3), wherein the phase deviation is determined in the step (E6) of determining a phase deviation by comparing the recombined wavefront with a planar wavefront parallel to the reflection plane (29) of the reference device (7);
-an adjustment step (E7) carried out by each of said adjustment modules (14), said adjustment step comprising adjusting each of said light sources (2) according to the phase deviation determined in said step (E6) of determining a phase deviation (28) to compensate for atmospheric turbulence.
11. The method of claim 10, wherein the first and second light sources are selected from the group consisting of,
characterized in that said aiming step (E3) comprises the following sub-steps:
-a receiving sub-step (E31) carried out by a second detection surface (18), said receiving sub-step comprising receiving an image (19) representative of the object (4) on the second detection surface (18),
-a positioning sub-step (E32) carried out by a unit for positioning (20) comprising positioning, on an image (19) of the target (4) received by the second detection surface (18), the position of the predetermined region (10) to be reached by the light beam (3) on the target (4) and the current position of the region reached by the light beam (3),
-a calculation sub-step (E33) carried out by a unit (21) for calculating, said calculation sub-step comprising calculating a movement to be made between a current position of a region that the light beam (3) has reached and a position of the predetermined region (10) to be reached on the target (4),
-a movement sub-step (E34) carried out by a movement unit (22), comprising moving the light source (2) according to the movement to be made calculated by the unit for calculating (21) so that the current position of the area reached by the light beam (3) overlaps with the position of the predetermined area to be reached (10).
12. The method of claim 10, wherein the first and second light sources are selected from the group consisting of,
characterized in that said aiming step (E3) comprises the following sub-steps:
-an emission sub-step (E35) carried out by an aiming laser device (24), said emission sub-step comprising the emission of an aiming laser beam (25) onto said predetermined area (10) to be reached on said target (4),
-a receiving sub-step (E36) carried out by a second detection surface (18), said receiving sub-step comprising receiving an image (26) representative of the position of the aiming laser beam (25) on the target (4) and of the position of the light beam (3) on the target (4),
-a positioning sub-step (E37) carried out by a unit for positioning (20) comprising positioning on the image (26) received by the second detection surface (18) the position of the aiming laser beam (25) on the target (4) and the current position of the light beam (3) on the target (4),
-a calculation sub-step (E38) carried out by a unit for calculating (21) comprising calculating a movement to be made between a current position of the light beam (3) on the target (4) and a position of the aiming laser beam (25) on the target (4),
-a movement sub-step (E39) carried out by a movement unit (22), comprising moving the light source (2) according to the movement to be made calculated by the unit for calculating (21) so that the current position of the light beam (3) on the target (4) overlaps with the position of the aiming laser beam (25) on the target (4).
Technical Field
The present invention relates to the field of laser sighting devices, and more particularly to a system for tracking a target and compensating for atmospheric turbulence.
Background
Controlling the parameters of the laser beam or any other directed beam is an important issue. In the following, in the description, the terms "beam" or "light beam" will be used to denote a laser beam or any other directed light beam.
The distance between the light source emitting the light beam to specify the target and the target can be very large. Generally, the use of a single beam is not sufficient to contact the target, since the power of the single beam is greatly reduced by the path between the source of the beam and the target. Therefore, in general, several basic beams are used in combination; this makes it possible to obtain a beam of very high power formed by all the elementary beams.
When a large number of elementary beams are used, the configuration of each beam must be known separately in order to adjust the parameters of each beam to maintain the maximum power of the beam formed by all the elementary beams. However, it is difficult to determine which elementary beams have an operating configuration that reduces the power of the beam formed by all the elementary beams in order to adjust the configuration of said beams.
There are devices that can solve this problem. However, these devices implement complex adaptive optics loops or implement devices that require large amounts of computation. Therefore, these devices are not suitable for systems comprising a large number of elementary beams.
Disclosure of Invention
The present invention aims to overcome these drawbacks by proposing a system that makes it possible to track targets and compensate for turbulence generated by the atmosphere.
To this effect, the invention relates to a system for tracking targets and compensating for atmospheric turbulence.
According to the invention, the system comprises:
at least two light sources, each light source being configured to emit a light beam along a propagation axis in an emission direction towards a target,
at least two collimators, wherein each collimator is associated with a respective one of the light sources, wherein each collimator is configured to collimate a light beam of the associated light source,
a reference arrangement arranged downstream of all collimators in the emission direction, the reference arrangement comprising a reflection plane configured to reflect part of the beams exiting from all collimators,
-at least two aiming modules, wherein each aiming module is associated individually and in its entirety with one of the light sources, wherein each aiming module is configured to direct a light beam from the light source to reach a predetermined area of the target.
At least two detection modules, wherein each detection module is associated individually and in its entirety with one of the light sources, wherein each detection module comprises a first detection surface configured to receive the partial light beam reflected by the reference arrangement, the partial light beam reflected by the reflection plane of the reference arrangement being received and detected at a current position on the first detection surface,
at least two modules for determining deviation angles, configured to determine deviation angles respectively depending on a spatial displacement on the first detection surface between a reference position on the first detection surface and a current position, the deviation angles being determined after each sighting module has directed each light beam to reach a predetermined area of the target, wherein the deviation angles correspond to the angles between the partial light beams reflected by the reflection plane of the reference arrangement and the propagation axis.
-means for determining a phase deviation configured to determine the phase deviation from the deviation angle determined by the at least two means for determining deviation angles, wherein the means for determining a phase deviation is configured to determine a recombined wavefront from the deviation angles, the phase deviation being determined by the means for determining a phase deviation by combining the recombined wavefront with a plane wavefront parallel to a reflection plane of the reference device;
-at least two adjusting modules configured to adjust each light source according to the wave front determined by the module for determining a wave front, to compensate for atmospheric turbulence.
Thus, according to the present invention, it is possible to both track the target to be reached and compensate for the effects of turbulence generated by the atmosphere without using a complex optical loop or extensive calculations.
Advantageously, each collimator comprises at least one exit pupil, wherein each collimator has an optical axis, wherein the optical axis forms a non-zero angle with the propagation axis such that the propagation axis and the optical axis intersect at the exit pupil of each collimator.
In a non-limiting manner, the non-zero angle has a value greater than 0 ° and less than or equal to 5 °.
According to a first embodiment, each sighting module comprises:
a second detection surface configured to receive an image representing an object,
a unit for positioning configured to position, on the target image received by the second detection surface, a position of a predetermined area on the target to be reached by the light beam and a current position of an area that the light beam has reached,
a unit for calculating configured to calculate a movement made between a current position of the area that the light beam has reached and a position of a predetermined area to be reached on the target,
a moving unit configured to move the light source such that a current position of the area that the light beam has reached overlaps with a position of the predetermined area to be reached, in accordance with the movement to be made calculated by the unit for calculating.
According to a first alternative of the first embodiment, the system further comprises a plate arranged in the propagation axis, wherein the plate has a lower surface configured to receive the light beam from the light source and to receive an image representing the object.
The surface is capable of transmitting a light beam from the light source and reflecting an image representing the target towards the second detection surface.
According to a second alternative of the first embodiment, the system further comprises a plate arranged in the propagation axis, wherein the plate has a lower surface configured to receive the light beam from the light source and to receive an image representing the object.
The surface is capable of reflecting a light beam from the light source and transmitting an image representing the target towards the second detection surface.
According to a second embodiment, the system further comprises an aiming laser device configured to emit an aiming laser beam onto a predetermined area on the target to be reached.
Each aiming module comprises:
a second detection surface configured to receive an image representing a position of the aiming laser beam on the target and a position of the light beam on the target,
a unit for positioning configured to position the position of the aiming laser beam on the target and the current position of the beam on the target on the image received by the second detection surface,
a unit for calculating configured to calculate a movement to be made between a current position of the light beam on the target and a position of the aiming laser beam on the target,
a moving unit configured to move the light source such that the current position of the light beam on the target overlaps with the position of the aiming laser beam on the target, according to the movement to be performed calculated by the unit for calculating.
According to a first alternative of the second embodiment, the system further comprises a plate arranged on the propagation axis, wherein the plate has a lower surface configured to receive the light beam from the light source and to receive an image representing the position of the aiming laser beam on the target and the position of the light beam on the target.
The surface is capable of transmitting a light beam from the light source and reflecting an image representing the location of the aiming laser beam on the target and the location of the light beam on the target toward the second detection surface.
According to a second alternative of the second embodiment, the system further comprises a plate arranged on the propagation axis, the plate having a lower surface configured to receive the light beam from the light source and to receive an image representing the position of the aiming laser beam on the target and the position of the light beam on the target.
The surface is capable of reflecting the light beam from the light source and transmitting an image representing the location of the aiming laser beam on the target and the location of the light beam on the target toward the second detection surface.
The invention also relates to a method for using the system for tracking targets and compensating for atmospheric turbulence.
According to the invention, the method comprises the following cyclically repeated steps:
an emission step carried out by each light source, the emission step comprising emitting a light beam along a propagation axis in an emission direction towards a target,
-a step of collimating the light beams, performed by each collimator, comprising collimating each light beam emitted by each light source,
-a targeting step carried out by each targeting module, the targeting step comprising directing a light beam from a light source to reach a predetermined area of a target,
a detection step carried out by each detection module, the detection step comprising receiving and detecting on the first detection surface the partial beam reflected by the reflection plane of the reference device at the current position,
a step of determining a deviation angle carried out by each module for determining a deviation angle, the step of determining a deviation angle comprising determining a deviation angle from a spatial displacement on the first detection surface between a reference position on the first detection surface and a current position, the deviation angle being determined after each aiming module has directed each light beam to reach a predetermined area of the target, wherein the deviation angle corresponds to an angle between a portion of the light beam reflected by the reflection plane of the reference arrangement and the propagation axis,
a step of determining a phase deviation, performed by the module for determining a phase deviation, the step of determining a phase deviation comprising determining a phase deviation from the deviation angle determined in the step of determining a deviation angle, the step of determining a phase deviation comprising determining a recombined wavefront from the deviation angle, wherein the phase deviation is determined in the step of determining a phase deviation by comparing the recombined wavefront with a planar wavefront parallel to the reflection plane of the reference device,
-an adjustment step, performed by each adjustment module, comprising adjusting each light source according to the phase deviation determined in the step of determining the phase deviation, to compensate for atmospheric turbulence.
According to a first embodiment, the aiming step comprises the following sub-steps:
a receiving sub-step carried out by the second detection surface, the receiving sub-step comprising receiving an image representative of the object on the second detection surface,
a positioning sub-step, carried out by the unit for positioning, comprising positioning, on the image of the target received by the second detection surface, the position of a predetermined area on the target to be reached by the light beam and the current position of the area reached by the light beam,
a calculation sub-step carried out by the unit for calculating, the calculation sub-step comprising calculating the movement to be made between the current position of the region reached by the beam and the position of a predetermined region to be reached on the target,
a movement sub-step implemented by the moving unit, the movement sub-step comprising moving the light source according to the movement to be made calculated by the unit for calculating, such that the current position of the area that the light beam has reached overlaps with the position of the predetermined area to be reached.
According to a second embodiment, the aiming step comprises the following sub-steps:
a firing sub-step carried out by the aiming laser device, the firing sub-step comprising the firing of an aiming laser beam onto a predetermined area to be reached on the target,
a receiving sub-step carried out by the second detection surface, the receiving sub-step comprising receiving an image representative of the position of the aiming laser beam on the target and of the beam on the target,
a positioning sub-step, carried out by the unit for positioning, comprising positioning on the image received by the second detection surface the position of the aiming laser beam on the target and the current position of the beam on the target,
a calculation sub-step carried out by the unit for calculating, the calculation sub-step comprising calculating the movement to be made between the current position of the beam on the target and the position of the aiming laser beam on the target,
a movement sub-step carried out by the moving unit, the movement sub-step comprising moving the light source according to the movement to be performed calculated by the unit for calculating, such that the current position of the light beam on the target overlaps with the position of the aiming laser beam on the target.
Drawings
The invention and its features and advantages will appear more clearly on reading the description made with reference to the accompanying drawings, in which:
figure 1 shows an overall perspective view of the tracking system,
figure 2 shows a schematic cross-section of a tracking system,
figure 3 shows a part of a tracking system according to a first embodiment,
figure 4 shows the same part of a tracking system according to a second embodiment,
figure 5 schematically shows the steps of a method using the tracking system according to the first embodiment,
fig. 6 schematically shows the steps of a method using a tracking system according to a second embodiment.
Detailed Description
The remainder of the description will refer to the figures mentioned above.
The invention relates to a system 1 for tracking an
The
As shown in fig. 1 and 2, the tracking system 1 comprises at least two
In a non-limiting manner, each
The tracking system 1 further comprises at least two collimators 6. Each collimator 6 is associated with a respective one of the
Preferably, each
Advantageously, each collimator 6 comprises at least one exit pupil and has an
In a non-limiting manner, the angle α between the
The tracking system 1 further comprises a reference device 7, which reference device 7 is arranged downstream of all collimators 6 in the emission direction E. The reference arrangement 7 comprises a reflecting
According to one embodiment, the reflecting
In a non-limiting manner, the one or more separating surfaces have a transmittance of between 99% and 99.9% of the
The tracking system 1 further comprises at least two targeting
The tracking system 1 further comprises at least two
The expression "associated as a whole with one of the light sources" with respect to the aiming
The respective distance between the
According to one embodiment, in order to have a reliable and constant distance value, the
The tracking system 1 further comprises at least two
The deviation angles β 1,
The tracking system 1 further comprises a
To this end, the
The purpose of the tracking system 1 is therefore to ensure that the
The tracking system 1 thus uses the principle of a Shack Hartmann wavefront analyser, in which a displacement between a reference position of a light beam and a current position of the light beam represents a phase deviation between a reference phase corresponding to the phase of the light beam reaching the reference position and a current phase corresponding to the phase of the light beam reaching the current position.
At least two
In fig. 2, the
According to a first configuration (fig. 2), each
a
a
a
a moving
For the sake of clarity, fig. 2 shows the
According to a first alternative of the first embodiment, the tracking system 1 further comprises a
According to a second alternative of the first embodiment, the
According to a second embodiment (fig. 4), the tracking system 1 further comprises an aiming
In this second embodiment, each
a
a
a
a moving
According to a first alternative of the second embodiment, the tracking system 1 further comprises a
According to a second alternative of the second embodiment, said surface is able to reflect the
According to one embodiment, the array surface comprises a fiber bundle capable of transmitting the
According to one configuration, the positions correspond to coordinates determined relative to virtual markers defined in the detection surfaces 12, 18. For example, the origin of the marker is located at the center of the detection surfaces 12, 18.
The pixels of the CCD or CMOS may correspond to coordinate units.
For the first embodiment (fig. 3) and the second embodiment (fig. 4), in the same way as for the
The invention also relates to a method of using the tracking system 1 (fig. 5 and 6).
The use method comprises the following steps which are repeated circularly:
an emission step E1 carried out by each
a step E2 of collimating the
a targeting step E3 carried out by each targeting
a detection step E4 carried out by each
a step E5 of determining deviation angles, carried out by each
a phase deviation determining step E6, carried out by the module for determining a
an adjustment step E7 carried out by each
To this end, the step E6 of determining the phase deviation comprises determining the recombined wave fronts from the deviation angles β 1,
According to a first embodiment (fig. 5), the aiming step E3 comprises the following sub-steps:
a receiving sub-step E31 carried out by the
a positioning sub-step E32, carried out by the unit for positioning 20, the positioning sub-step E32 comprising positioning, on the
a calculation sub-step E33, carried out by the unit for calculating 21, the calculation sub-step E33 consisting in calculating the movement to be made between the current position of the region reached by the
a movement sub-step E34, carried out by the moving
According to a second embodiment (fig. 6), the aiming step E3 comprises the following sub-steps:
a firing sub-step E35 carried out by the aiming
a receiving sub-step E36 carried out by the
a positioning sub-step E37, carried out by the unit for positioning 20, the positioning sub-step E37 comprising positioning the position of the aiming
a calculation sub-step E38 carried out by the unit for calculating 21, the calculation sub-step E38 comprising calculating the movement to be made between the current position of the
a movement sub-step E39, carried out by the
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