A debugging method for tracking loop of real-time zoom tracking control system

Abstract

The present invention discloses a debugging method for a tracking loop of a real-time zoom tracking control system, the method comprising: sampling a plurality of focal length values ​​within the focal length range of a television system of an optoelectronic tracker, obtaining tracking deviation pixels corresponding to each sampled focal length value; determining the correspondence between the focal length, tracking deviation pixels of the television system and the tracking deviation of the tracking loop of the optoelectronic tracker; obtaining the current focal length value of the television system and the current tracking deviation pixels of the tracking loop, determining the current tracking deviation of the tracking loop of the optoelectronic tracker, and compensating the tracking loop based on the current tracking deviation. The present invention can effectively ensure the tracking accuracy of the optoelectronic tracker at short focus, and at the same time ensure the tracking accuracy of the optoelectronic tracker at long focus, that is, ensure the tracking accuracy during the entire process of continuous zooming of the television system.

Description

Technical Field

[0001] The invention relates to the field of servo control, and in particular to a debugging method for a tracking loop of a real-time zoom tracking control system. Background Art

[0002] Tracking systems are widely used in target detection, target tracking and other fields. In a tracking system, such as an optoelectronic tracker or an optoelectronic sighting device, a real-time zoom tracking control system is usually included. The real-time zoom tracking control system receives a tracking instruction and performs follow-up control on the real-time zoom tracking system, so that the real-time zoom tracking control system performs real-time correction on the tracked target and makes the tracked target be in the center of the field of view in real time.

[0003] The real-time zoom tracking control system can expand the application scope of the capture tracking aiming equipment, solve the capture tracking problems of targets at different distances and complex backgrounds, and improve the flexibility and intelligence of the tracking system. The tracking system adjusts the focal length and light intensity of the lens in real time according to the target motion characteristics, so that the television system works in the best detection and extraction state, thereby improving the tracking performance and tracking accuracy of the capture tracking system.

[0004] Combining the advantages of classical control, modern control and intelligent control theory, designing a high-precision fast tracking control algorithm can greatly improve the tracking accuracy and dynamic response performance of the real-time zoom tracking control system, and has strong robustness and anti-disturbance.

[0005] Tracking accuracy and response speed are the key points of the real-time zoom tracking control system, and are also the most important key points of the entire tracking system. In a continuous zoom TV system, to ensure tracking accuracy, it is necessary to select an effective tracking control method.

[0006] At present, the tracking control method used in most photoelectric trackers is the PID control method or the PI control algorithm, which can ensure the tracking accuracy when the photoelectric tracker is in different tracking states, but the tracking accuracy is difficult to meet the tracking accuracy of short focus and the tracking accuracy of long focus at the same time. Usually, if the tracking accuracy is very good when the TV system is in short focus, the tracking accuracy decreases when the TV system is in long focus; or, if the tracking accuracy is very good when the TV system is in long focus, the tracking accuracy decreases when the TV system is in short focus; therefore, it is necessary to propose a new control method to ensure that the short focus tracking accuracy is high while meeting the long focus tracking accuracy, that is, to ensure the tracking accuracy of the tracking system when the TV system is at any focal length value within the entire focal length range. Summary of the invention

[0007] In view of this, the present invention provides a debugging method for the tracking loop of a real-time zoom tracking control system, which can solve the technical problem of ensuring the tracking accuracy of the tracking system when the television system is at any focal length value within the entire focal length range, that is, when the television system is at a long focus, the tracking accuracy is high, and at the same time, when the television system is at a short focus, a high tracking accuracy can also be guaranteed.

[0008] In order to solve the above technical problems, the present invention is implemented as follows.

[0009] A debugging method for a tracking loop of a real-time zoom tracking control system, comprising:

[0010] Step S1: sampling a number of focal length values ​​within the focal length range of the television system of the photoelectric tracker, and obtaining tracking deviation pixels corresponding to each sampled focal length value, wherein the tracking deviation pixels are pixel differences between the target tracked by the photoelectric tracker and the center of the field of view;

[0011] Step S2: determining the correspondence between the focal length of the television system, the tracking deviation pixel and the tracking deviation of the tracking loop of the photoelectric tracker by means of a numerical fitting curve;

[0012] Step S3: Obtain the current focal length value of the television system and the current tracking deviation pixel of the tracking loop, determine the current tracking deviation of the tracking loop of the photoelectric tracker based on the correspondence between the focal length of the television system, the tracking deviation pixel and the tracking deviation of the tracking loop of the photoelectric tracker, and compensate the tracking loop based on the current tracking deviation.

[0013] Preferably, after step S3, the method includes step S4: calibrating the photoelectric tracker.

[0014] Preferably, in step S2, the correspondence between the focal length of the television system, the tracking deviation pixel and the tracking deviation of the tracking loop of the photoelectric tracker is:

[0015] A_err=-57.3*atan(6.45*0.001*(A_err_track) / bjfk)

[0016] Wherein, A_err is the tracking deviation of the tracking loop of the photoelectric tracker, A_err_track is the tracking deviation pixel given by the photoelectric tracker, and bjfk is the focal length value of the television system during the zooming process.

[0017] Preferably, the step S3 comprises:

[0018] Step S31: dividing the focal length range of the photoelectric tracker into a plurality of focal length sub-segments;

[0019] Step S32: If the focal length value of the lens of the photoelectric tracker is equal to the focal length value corresponding to the split point or one of the two endpoint values ​​corresponding to the focal length range, the tracking loop of the photoelectric tracker is compensated by using an integral separation control algorithm to obtain the tracking control amount of the tracking loop, and then proceed to step S34;

[0020] Step S33: if the focal length value of the lens of the photoelectric tracker is not equal to the focal length value corresponding to the split point or one of the two endpoint values ​​corresponding to the focal length range, different proportional coefficients are allocated to different focal length sub-segments of the photoelectric tracker, and a variable gain PID control algorithm is used for the tracking loop of the photoelectric tracker, and the proportional coefficient corresponding to the focal length sub-segment to which the focal length value of the lens of the photoelectric tracker belongs is used as the proportional term in the variable gain PID control algorithm; the current focal length value of the television system and the current tracking deviation pixel of the tracking loop are obtained, and the current tracking deviation of the tracking loop of the photoelectric tracker is determined based on the correspondence between the focal length of the television system, the tracking deviation pixel and the tracking deviation of the tracking loop of the photoelectric tracker; based on the proportional term corresponding to the focal length sub-segment corresponding to the current focal length value of the television system and the current tracking deviation of the tracking loop, the variable gain PID control algorithm is used to obtain the tracking control amount of the tracking loop, and then the process goes to step S34;

[0021] Step S34: performing a limiting process and an out-of-bounds protection on the tracking control amount of the tracking loop; wherein the limiting process is to set an upper limit value and a lower limit value for the tracking control amount, and normalize the tracking control amount between the upper limit value and the lower limit value, and the out-of-bounds protection is to clear the tracking control amount to zero when the position of the servo system of the photoelectric tracker is the limit boundary of the servo system;

[0022] Step S35: Compensating the tracking loop based on the tracking control amount.

[0023] Preferably, in step S4, a dual-loop lead-lag correction method is used to calibrate the photoelectric tracker, wherein the dual-loop lead-lag correction method is to perform lead-lag correction on the speed loop and the tracking loop of the photoelectric tracker respectively.

[0024] The present invention provides a debugging device for a tracking loop of a real-time zoom tracking control system, the device comprising:

[0025] Sampling module: configured to sample a number of focal length values ​​within the focal length range of the television system of the photoelectric tracker, and obtain tracking deviation pixels corresponding to each sampled focal length value, wherein the tracking deviation pixels are pixel differences between the target tracked by the photoelectric tracker and the center of the field of view;

[0026] A fitting module: configured to determine the correspondence between the focal length of the television system, the tracking deviation pixel and the tracking deviation of the tracking loop of the photoelectric tracker by means of a numerical fitting curve;

[0027] Compensation module: configured to obtain the current focal length value of the television system and the current tracking deviation pixel of the tracking loop, determine the current tracking deviation of the tracking loop of the photoelectric tracker based on the correspondence between the focal length of the television system, the tracking deviation pixel and the tracking deviation of the tracking loop of the photoelectric tracker, and compensate the tracking loop based on the current tracking deviation.

[0028] The present invention provides a computer-readable storage medium, wherein a plurality of instructions are stored in the storage medium; the plurality of instructions are used for a processor to load and execute the method as described above.

[0029] The present invention provides an electronic device, comprising:

[0030] A processor, which is used to execute multiple instructions;

[0031] A memory for storing a plurality of instructions;

[0032] The plurality of instructions are used to be stored by the memory and loaded and executed by the processor to implement the method as described above.

[0033] Beneficial effects:

[0034] The present invention has the following technical effects:

[0035] (1) The present invention is based on the basic principle of a tracking system, especially an optoelectronic tracker, and proposes a new control method in a continuous zoom television system, which can effectively ensure the tracking accuracy of the optoelectronic tracker at a short focal length, and at the same time ensure the tracking accuracy of the optoelectronic tracker at a long focal length, even when the tracking system is at any focal length value within the entire focal length range of the television system.

[0036] (2) The present invention effectively ensures the tracking accuracy of a continuous zoom television system when the television system is at any focal length value within the entire focal length range. That is, while ensuring high short-focus tracking accuracy, the long-focus tracking accuracy is also high.

[0037] (3) The present invention can ensure the tracking accuracy of the photoelectric tracker in a tracking system with a continuous zoom television system, and can ensure the tracking accuracy when the television system of the tracking system is at any focal length value within the entire focal length range. The performance index of the present invention is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1A flow chart of a debugging method for a tracking loop of a real-time zoom tracking control system provided by the present invention;

[0039] Figure 2 A schematic diagram of the curve fitting between the focal length value and the tracking deviation pixel provided by the present invention;

[0040] Figure 3 A schematic diagram of the numerical correspondence between the focal length value collected by the controller provided by the present invention and the tracking deviation pixel;

[0041] Figure 4 A schematic diagram of the framework of the tracking loop PID control method according to the focal length segmentation provided by the present invention;

[0042] Figure 5 A schematic diagram of the control method framework at the segmentation point provided by the present invention;

[0043] Figure 6 A schematic diagram of the boundary limiting process provided by the present invention;

[0044] Figure 7 A schematic diagram of the dual-loop lead-lag correction provided by the present invention;

[0045] Figure 8 A schematic structural diagram of a debugging device for a tracking loop of a real-time zoom tracking control system provided by the present invention. DETAILED DESCRIPTION

[0046] The present invention is described in detail below in conjunction with the accompanying drawings and embodiments.

[0047] like Figure 1 As shown, the present invention proposes a debugging method for a tracking loop of a real-time zoom tracking control system, comprising the following steps:

[0048] Step S1: sampling a number of focal length values ​​within the focal length range of the television system of the photoelectric tracker, and obtaining tracking deviation pixels corresponding to each sampled focal length value, wherein the tracking deviation pixels are pixel differences between the target tracked by the photoelectric tracker and the center of the field of view;

[0049] Step S2: determining the correspondence between the focal length of the television system, the tracking deviation pixel and the tracking deviation of the tracking loop of the photoelectric tracker by means of a numerical fitting curve;

[0050] Step S3: Obtain the current focal length value of the television system and the current tracking deviation pixel of the tracking loop, determine the current tracking deviation of the tracking loop of the photoelectric tracker based on the correspondence between the focal length of the television system, the tracking deviation pixel and the tracking deviation of the tracking loop of the photoelectric tracker, and compensate the tracking loop based on the current tracking deviation.

[0051] Furthermore, the method further comprises step S4: calibrating the photoelectric tracker.

[0052] The step S1, wherein:

[0053] The lens of the television system of the photoelectric tracker has a variety of focal length values, and the focal length values ​​are between the focal length range [a, b]. Within the focal length range [a, b], several sampling points are selected, such as c1, c2, ..., cn, and the focal lengths of the lens of the television system are adjusted to c1, c2, ..., cn respectively. When the focal lengths of the lenses are c1, c2, ..., cn respectively, the corresponding tracking deviation pixels of the photoelectric tracker are obtained.

[0054] Because there are sampling errors, system power supply noise, errors in the electronic components themselves, etc. when collecting the output value of the potentiometer representing the focal length value of the optical lens, the present invention uses a high-precision AD converter to collect the output value of the potentiometer representing the focal length value output by the optical lens; and the collected output value of the potentiometer is filtered through a low-pass filter and a mean filter to ensure that the collected data is accurate, and the collected data is close to the focal length value output by the optical lens, thereby ensuring data collection accuracy.

[0055] In this embodiment, the pixel corresponds to the resolution of the field of view. The tracking deviation pixel is given by the photoelectric tracker.

[0056] like Figure 2 As shown, in step S2, the correspondence between the focal length of the television system, the tracking deviation pixel and the tracking deviation of the tracking loop of the photoelectric tracker is:

[0057] A_err=-57.3*atan(6.45*0.001*(A_err_track) / bjfk)

[0058] Wherein, A_err is the tracking deviation of the tracking loop of the photoelectric tracker, A_err_track is the tracking deviation pixel given by the photoelectric tracker, and bjfk is the focal length value of the television system during the zooming process.

[0059] In this embodiment, a one-variable multi-time equation is used to fit the curve. This fitting method ensures the accuracy of the calculated deviation pixels while saving calculation time and occupying DSP memory space.

[0060] The step S3 comprises:

[0061] Step S31: dividing the focal length range of the photoelectric tracker into a plurality of focal length sub-segments;

[0062] Step S32: If the focal length value of the lens of the photoelectric tracker is equal to the focal length value corresponding to the split point or one of the two endpoint values ​​corresponding to the focal length range, the tracking loop of the photoelectric tracker is compensated by using an integral separation control algorithm to obtain the tracking control amount of the tracking loop, and then proceed to step S34;

[0063] Step S33: if the focal length value of the lens of the photoelectric tracker is not equal to the focal length value corresponding to the split point or one of the two endpoint values ​​corresponding to the focal length range, different proportional coefficients are allocated to different focal length sub-segments of the photoelectric tracker, and a variable gain PID control algorithm is used for the tracking loop of the photoelectric tracker, and the proportional coefficient corresponding to the focal length sub-segment to which the focal length value of the lens of the photoelectric tracker belongs is used as the proportional term in the variable gain PID control algorithm; the current focal length value of the television system and the current tracking deviation pixel of the tracking loop are obtained, and the current tracking deviation of the tracking loop of the photoelectric tracker is determined based on the correspondence between the focal length of the television system, the tracking deviation pixel and the tracking deviation of the tracking loop of the photoelectric tracker; based on the proportional term corresponding to the focal length sub-segment corresponding to the current focal length value of the television system and the current tracking deviation of the tracking loop, the variable gain PID control algorithm is used to obtain the tracking control amount of the tracking loop, and then the process goes to step S34;

[0064] Step S34: performing a limiting process and an out-of-bounds protection on the tracking control amount of the tracking loop; wherein the limiting process is to set an upper limit value and a lower limit value for the tracking control amount, and normalize the tracking control amount between the upper limit value and the lower limit value, and the out-of-bounds protection is to clear the tracking control amount to zero when the position of the servo system of the photoelectric tracker is the limit boundary of the servo system;

[0065] For example, if the control value range is greater than -100 and less than +100, the tracking control value is normalized between [-100, +100]. The mechanical limit of the frame angle of the servo system is: -60° to +15°, then the limit boundary is the frame angle value corresponding to the position of the servo system is -60° or +15°.

[0066] Step S35: Compensating the tracking loop based on the tracking control amount.

[0067] In this embodiment, the split point will produce overshoot phenomenon. In order to avoid this disadvantage, a control algorithm using integral separation is adopted at the split point. Different proportional coefficients are adopted in different focal length value ranges, which can effectively ensure that the tracking loop has different parameters at different focal length values ​​to ensure tracking accuracy.

[0068] In the step S4, the photoelectric tracker is corrected by using a dual-loop lead-lag correction method, wherein the dual-loop lead-lag correction method is to perform lead-lag correction on the speed loop and the tracking loop of the photoelectric tracker respectively.

[0069] The inner loop of the tracking loop is the speed loop. The speed loop adopts a dual-loop lead-lag correction method, which can ensure the response time and stability characteristics of the stable loop while ensuring tracking accuracy. The dual-loop lead-lag correction method has the characteristics of short response time, small overshoot, and high control accuracy.

[0070] The photoelectric tracker described in the present invention comprises a tracking loop, which is composed of a speed loop and an image processing module.

[0071] The speed loop is composed of a servo controller, a power amplifier, an actuator / motor, a speed sensor / gyroscope and other components; the working principle of the speed loop is: the control command at the previous moment is subtracted from the current servo system movement speed collected by the gyroscope, and sent to the servo controller for processing. The servo controller sends the control command signal, which is amplified by the power amplifier and then drives the motor to drive the load to move. The load includes: the processing system of the television system, the infrared image processing system, and the optical components such as lasers used to collect images.

[0072] The tracking loop is composed of a speed loop, an image processing module, a load, etc. The working principle of the tracking loop is: the host computer software sends a tracking command to the image processing module, the image processing module responds to the tracking command, tracks the target, and performs calculations, and sends the tracking deviation to the servo controller. The servo controller sends a control command to the speed loop after calculation, so that the servo system follows the target movement.

[0073] Furthermore, if Figure 7 As shown, the dual-loop lead-lag correction method is: the output of the tracking control quantity after proportion, lead and lag correction is used as the input of the next level proportion lead-lag link. Compared with the PID control algorithm, the dual-loop lead-lag correction method of the present invention has a better control effect.

[0074] The present invention also provides a specific embodiment of a debugging method for a tracking loop of a real-time zoom tracking control system.

[0075] Step 1: Accurately read the focal length feedback value of the TV system

[0076] A 16-bit high-precision AD7744 converter is used to collect the focal length value fed back by the TV system; low-pass filter, mean filter and other filtering processing methods are used to ensure the accuracy of the collected data; close to the focal length value output by the optical lens;

[0077] Step 2: Calculate the tracking deviation pixel based on the acquired focal length value; the relationship between the focal length value and the tracking deviation pixel is as follows:

[0078] A_err=-57.3*atan(6.45*0.001*(A_err_track) / bjfk);

[0079] The numerical curve fitting method is adopted; the curve is fitted in the form of a one-variable multi-time equation. This fitting method ensures the accuracy of the calculated deviation pixels while saving calculation time and occupying DSP memory space. The fitting curve equation is as follows Figure 2 As shown; the numerical correspondence between the focal length value collected by the controller and the tracking deviation pixel is shown as Figure 3 As shown. The final fitting curve is in the form of:

[0080] Y=-1E-14x5+2E-11x4-9E-09x3+2E-06x2-0.00002x-0.0084

[0081] Step 3: According to the corresponding relationship between the obtained tracking deviation and focal length, the tracking loop algorithm is compensated. The tracking loop adopts a variable gain PID control method; the focal length value is divided into several segments, and different proportional coefficients are used in different focal length ranges. This can effectively ensure the parameters of the tracking loop under different focal length values ​​and ensure the tracking accuracy. The structural block diagram of the tracking loop PID control algorithm divided by focal length value is shown in the figure below: Figure 4 As shown, where f1=150; f2=350; P1=1.8; P2=2.3; P3=2.8.

[0082] PI control algorithm and integral separation control algorithm are adopted at the split point.

[0083] The disadvantage of using different proportional coefficients according to the focal length segmentation is that overshoot will occur at the segmentation point. In order to avoid this disadvantage, the present invention adopts a PI control algorithm and an integral separation control algorithm at the segmentation point. The control algorithm block diagram at the segmentation point is shown in FIG. Figure 5 shown.

[0084] The tracking control quantity is limited to protect against crossing the boundary. Figure 6 shown.

[0085] The principle block diagram of the dual-loop lead-lag correction used in the present invention is as follows: Figure 7 shown.

[0086] The present invention also provides a debugging device for a tracking loop of a real-time zoom tracking control system, such as Figure 8 As shown, the device comprises:

[0087] Sampling module: configured to sample a number of focal length values ​​within the focal length range of the television system of the photoelectric tracker, and obtain tracking deviation pixels corresponding to each sampled focal length value, wherein the tracking deviation pixels are pixel differences between the target tracked by the photoelectric tracker and the center of the field of view;

[0088] A fitting module: configured to determine the correspondence between the focal length of the television system, the tracking deviation pixel and the tracking deviation of the tracking loop of the photoelectric tracker by means of a numerical fitting curve;

[0089] Compensation module: configured to obtain the current focal length value of the television system and the current tracking deviation pixel of the tracking loop, determine the current tracking deviation of the tracking loop of the photoelectric tracker based on the correspondence between the focal length of the television system, the tracking deviation pixel and the tracking deviation of the tracking loop of the photoelectric tracker, and compensate the tracking loop based on the current tracking deviation.

[0090] The above specific embodiments only describe the design principle of the present invention. The shapes and names of the components in the description may be different and are not limited. Therefore, those skilled in the art in the field of the present invention may modify or replace the technical solutions recorded in the above embodiments; and these modifications and replacements do not deviate from the creative purpose and technical solutions of the present invention and should all fall within the protection scope of the present invention.

Claims

1. A method for debugging a tracking loop of a real-time zoom tracking control system, characterized in that: The method comprises the following steps: Step S1: sampling a number of focal length values ​​within the focal length range of the television system of the photoelectric tracker, and obtaining tracking deviation pixels corresponding to each sampled focal length value, wherein the tracking deviation pixels are pixel differences between the target tracked by the photoelectric tracker and the center of the field of view; Step S2: determining the correspondence between the focal length of the television system, the tracking deviation pixel and the tracking deviation of the tracking loop of the photoelectric tracker by means of a numerical fitting curve; Step S3: obtaining the current focal length value of the television system and the current tracking deviation pixel of the tracking loop, determining the current tracking deviation of the tracking loop of the photoelectric tracker based on the corresponding relationship between the focal length of the television system, the tracking deviation pixel and the tracking deviation of the tracking loop of the photoelectric tracker, and compensating the tracking loop based on the current tracking deviation; In step S2, the correspondence between the focal length of the television system, the tracking deviation pixel and the tracking deviation of the tracking loop of the photoelectric tracker is: A_err=-57.3*atan(6.45*0.001*(A_err_track) / bjfk) Wherein, A_err is the tracking deviation of the tracking loop of the photoelectric tracker, A_err_track is the tracking deviation pixel given by the photoelectric tracker, and bjfk is the focal length value of the television system during the zooming process.

2. The method according to claim 1, characterized in that After step S3, the method includes step S4: calibrating the photoelectric tracker.

3. The method according to any one of claims 1 to 2, characterized in that: The step S3 comprises: Step S31: dividing the focal length range of the photoelectric tracker into a plurality of focal length sub-segments; Step S32: If the focal length value of the lens of the photoelectric tracker is equal to the focal length value corresponding to the split point or one of the two endpoint values ​​corresponding to the focal length range, the tracking loop of the photoelectric tracker is compensated by using an integral separation control algorithm to obtain the tracking control amount of the tracking loop, and then proceed to step S34; Step S33: if the focal length value of the lens of the photoelectric tracker is not equal to the focal length value corresponding to the split point or one of the two endpoint values ​​corresponding to the focal length range, different proportional coefficients are allocated to different focal length sub-segments of the photoelectric tracker, and a variable gain PID control algorithm is used for the tracking loop of the photoelectric tracker, and the proportional coefficient corresponding to the focal length sub-segment to which the focal length value of the lens of the photoelectric tracker belongs is used as the proportional term in the variable gain PID control algorithm; the current focal length value of the television system and the current tracking deviation pixel of the tracking loop are obtained, and the current tracking deviation of the tracking loop of the photoelectric tracker is determined based on the correspondence between the focal length of the television system, the tracking deviation pixel and the tracking deviation of the tracking loop of the photoelectric tracker; based on the proportional term corresponding to the focal length sub-segment corresponding to the current focal length value of the television system and the current tracking deviation of the tracking loop, the variable gain PID control algorithm is used to obtain the tracking control amount of the tracking loop, and then the process goes to step S34; Step S34: performing a limiting process and an out-of-bounds protection on the tracking control amount of the tracking loop; wherein the limiting process is to set an upper limit value and a lower limit value for the tracking control amount, and normalize the tracking control amount between the upper limit value and the lower limit value, and the out-of-bounds protection is to clear the tracking control amount to zero when the position of the servo system of the photoelectric tracker is the limit boundary of the servo system; Step S35: Compensating the tracking loop based on the tracking control amount.

4. The method according to claim 2, characterized in that In the step S4, the photoelectric tracker is corrected by using a dual-loop lead-lag correction method, wherein the dual-loop lead-lag correction method is to perform lead-lag correction on the speed loop and the tracking loop of the photoelectric tracker respectively.

5. A debugging device for a tracking loop of a real-time zoom tracking control system, characterized in that: The device comprises: Sampling module: configured to sample a number of focal length values ​​within the focal length range of the television system of the photoelectric tracker, and obtain tracking deviation pixels corresponding to each sampled focal length value, wherein the tracking deviation pixels are pixel differences between the target tracked by the photoelectric tracker and the center of the field of view; A fitting module: configured to determine the correspondence between the focal length of the television system, the tracking deviation pixel and the tracking deviation of the tracking loop of the photoelectric tracker by means of a numerical fitting curve; A compensation module: configured to obtain a current focal length value of the television system and a current tracking deviation pixel of the tracking loop, determine a current tracking deviation of the tracking loop of the photoelectric tracker based on a correspondence between the focal length of the television system, the tracking deviation pixel and the tracking deviation of the tracking loop of the photoelectric tracker, and compensate the tracking loop based on the current tracking deviation; The corresponding relationship between the focal length of the television system, the tracking deviation pixel and the tracking deviation of the tracking loop of the photoelectric tracker is: A_err=-57.3*atan(6.45*0.001*(A_err_track) / bjfk) Wherein, A_err is the tracking deviation of the tracking loop of the photoelectric tracker, A_err_track is the tracking deviation pixel given by the photoelectric tracker, and bjfk is the focal length value of the television system during the zooming process.

6. A computer-readable storage medium, wherein a plurality of instructions are stored in the storage medium; the plurality of instructions are used for a processor to load and execute the method as claimed in any one of claims 1 to 4.

7. An electronic device, characterized in that: The electronic device comprises: A processor, which is used to execute multiple instructions; A memory for storing a plurality of instructions; The plurality of instructions are used to be stored in the memory and loaded and executed by the processor according to any one of claims 1 to 4.

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