A multi-band photoelectric system tracking performance testing device and method

Abstract

The application discloses a kind of multi-band photoelectric system tracking performance testing device, including support platform, coaxial connection's multi-band simulation infinite target and precision rotary shaft system, the outlet of precision rotary shaft system is equipped with reflected light path, and the light of multi-band simulation infinite target converges to the photoelectric system to be measured after passing through precision rotary shaft system and reflected light path.The application also discloses a kind of multi-band photoelectric system tracking performance testing method, steps are as follows: one: reflected light path forms conical light path;Two: establish spherical coordinate system, define rotation axis and multiple included angles;Three: obtain the azimuth and elevation of the photoelectric system to be measured theoretically;Four: obtain the angle true value of the photoelectric system to be measured, compare the error between the azimuth and elevation of the photoelectric system to be measured theoretically.The application can make up the deficiency of existing photoelectric testing method in the range of visible light in outdoor and indoor simulation image target testing, and can be widely applied in photoelectric navigation and testing technical field.

Description

Technical Field

[0001] This invention relates to the field of optoelectronic navigation and testing technology, and in particular to a device and method for testing the tracking performance of a multi-band optoelectronic system. Background Technology

[0002] Shipborne, vehicle-mounted, and airborne optoelectronic tracking equipment uses television, infrared, and other imaging devices to acquire information such as target motion status, shape, and position through target recognition and tracking technology. Tracking performance is a core technical indicator, encompassing angular velocity, angular acceleration, angular measurement error, tracking error, or tracking accuracy. Testing the tracking performance of optoelectronic systems is particularly important. Existing testing methods are divided into outdoor and indoor testing. One outdoor testing method involves the optoelectronic equipment tracking a GPS-enabled UAV, comparing its own tracking data with the UAV's real-time position to obtain the tracking error. Indoor testing often uses simulated targets, injecting target image information into the optoelectronic system. Through composite video images and target indication messages, the system is guided to adjust its course, search for the target, and perform tracking, laser simulation ranging, and other operations. The tracking error is calculated by comparing the theoretical position of the simulated target with the actual position of the optoelectronic mount. Among these testing methods, indoor simulated target testing is mostly used for optoelectronic system simulation training and can only assist in assessing the tracking angular velocity of the optoelectronic system. In outdoor testing, drones can only simulate visible light targets. To simulate infrared targets, the drone needs to be equipped with a calibrated infrared target. Furthermore, drone test flights have high requirements for the surrounding environment and the operator. They can basically not take off in strong winds or rainy weather. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the aforementioned background technology and provide a multi-band optoelectronic system tracking performance testing device and method. This device and method can compensate for the deficiencies of existing optoelectronic testing methods in outdoor limited visible light range and indoor simulated image target testing. Furthermore, by setting up a high-precision angle measuring element, controller, and GPS time synchronization, it can provide real-time target true values. By comparing the detection values ​​of the optoelectronic equipment at the same time, the tracking performance and accuracy of the optoelectronic system can be calculated and evaluated.

[0004] This invention provides a multi-band photoelectric system tracking performance testing device, comprising a support platform with an inclined top surface. A multi-band simulated infinity target and a precision rotating axis system are coaxially connected on the inclined surface. The exit of the precision rotating axis system is provided with a reflected light path. A first light path is defined as the light path from the multi-band simulated infinity target directly emitted through the precision rotating axis system to the photoelectric system under test, and this first light path serves as the rotation axis. A second light path is defined as the light path from the multi-band simulated infinity target passing through the precision rotating axis system and then inclined downwards through the reflected light path to converge on the photoelectric system under test. Optical path; When the precision rotary axis system rotates with the first optical path as the rotation axis, the second optical path serves as the oblique generatrix of the conical optical path formed by the rotation. The convergence point of the second optical path at the photoelectric system under test is taken as the vertex O of the conical optical path. A spherical coordinate system xyz with vertex O as the origin is established. The theoretical azimuth and pitch angles of the photoelectric system under test are obtained according to the relationship between the various geometric angles between the conical optical path and the spherical coordinate system xyz. The theoretical values ​​are then compared with the actual measured azimuth and pitch angles of the photoelectric system under test to calculate the tracking accuracy.

[0005] In the above technical solution, the reflected light path includes a rotating arm disposed at the outlet of the precision rotating shaft system and two reflectors fixed on the rotating arm. One of the reflectors is located on the light path passing through the precision rotating shaft system. A portion of the light passing through the precision rotating shaft system passes through the reflector to form a first light path, and another portion of the light passing through the precision rotating shaft system is reflected by the reflector to another reflector at the edge of the rotating arm to form a second light path.

[0006] In the above technical solution, the precision rotary shaft system includes a rotary shaft with a cavity coaxial with a multi-band simulated infinite distance target. A circular grating is provided on the side wall of the rotary shaft. A torque motor and a housing are arranged coaxially with the rotary shaft from the inside to the outside on the outer wall of the rotary shaft. The rotor of the torque motor is fixedly connected to the rotary shaft, and the stator of the torque motor is fixedly connected to the housing. The housing is connected to the rotary shaft through a bearing.

[0007] In the above technical solution, the multi-band simulated infinity target includes a blackbody, a visible light source, and a collimator connected coaxially in sequence. The blackbody in the blackbody and the visible light source is an adjustable temperature blackbody, and the collimator is a Cassegrain collimator.

[0008] The above technical solution also includes a control system whose control end is connected to the precision rotary shaft system, and a time synchronization device whose signal end is connected to the precision rotary shaft system.

[0009] This invention also provides a method for testing the tracking performance of a multi-band optoelectronic system, unifying the multi-band optoelectronic system tracking performance testing device and the optoelectronic system under test within the same coordinate system, including the following steps: Step 1: The first and second optical paths formed by the reflected light paths of the multi-band optoelectronic system tracking performance testing device are combined into a conical optical path, and the convergence point of the first and second optical paths at the optoelectronic system under test is taken as the vertex O of the conical optical path; Step 2: Establish a spherical coordinate system xyz with vertex O as the origin, define the first optical path as the rotation axis OR, select any two points S1 and S2 on the rotation trajectory of the precision rotation axis system of the multi-band optoelectronic system tracking performance testing device, with the center of the rotation trajectory as R, a as half of the cone angle ∠ROS2 of the conical optical path, b as the angle ∠ROy between the rotation axis OR and the horizontal plane, E as the pitch angle ∠S2OQ of the optoelectronic system under test, A as the azimuth angle ∠yOQ of the optoelectronic system under test, and θ as the distance from the multi-band simulated infinite distance target. Step 3: Based on the spherical triangle O-S2ZR, and the relationship between the azimuth angle ∠yOQ and elevation angle ∠S2OQ of the tested photoelectric system, the half-cone angle ∠ROS2 of the multi-band photoelectric system tracking performance testing device, and the angle ∠ROy between the rotation axis OR and the horizontal plane, obtain the theoretical azimuth angle ∠yOQ and elevation angle ∠S2OQ of the tested photoelectric system. Step 4: Obtain the true angle value of the tested photoelectric system using the angle measuring element of the multi-band photoelectric system tracking performance testing device. Calculate the azimuth angle and elevation angle that the tested photoelectric system should obtain under real conditions based on this true value. Compare the theoretical azimuth angle ∠yOQ and the actual azimuth angle, and the theoretical elevation angle ∠S2OQ and the actual elevation angle, respectively, to calculate the tracking accuracy.

[0010] In the above technical solution, the specific process of step three is as follows: The relationship between the azimuth angle ∠yOQ and the elevation angle ∠S2OQ of the tested photoelectric system and the half-cone angle ∠ROS2 of the multi-band photoelectric system tracking performance testing device, and the angle ∠ROy between the rotation axis OR and the horizontal plane is obtained according to the spherical trigonometric cosine and sine formulas: cos(90°-E)=cosa·cos(90°-b)+sina·sin(90°-b)·cosθ (1), After simplification, the azimuth angle ∠yOQ and the elevation angle ∠S2OQ of the measured photoelectric system are obtained as follows:

[0011] E=arcsin(cosasinb+sinacosbcosθ)(3),

[0012] In the above technical solution, the calculation process for tracking accuracy in step four is as follows:

[0013] Among them, A im It is the actual azimuth angle of the measured photoelectric system, A it Theoretically, it is the azimuth angle ∠yOQ of the measured photoelectric system, E im It is the actual pitch angle of the measured photoelectric system, E it It is theoretically the pitch angle ∠S2OQ of the photoelectric system being measured.

[0014] In the above technical solution, in step four, the angle measuring element is a circular grating.

[0015] The multi-band photoelectric system tracking performance testing device and method of the present invention have the following beneficial effects:

[0016] This invention simulates multi-band targets at infinity indoors, providing real-time positioning information. It calculates real-time true values ​​of the azimuth, elevation, and distance of the simulated multi-band targets at infinity relative to the tested optoelectronic system. The accuracy of these values ​​is analyzed through coordinate transformation and other methods. Compared to traditional indoor and outdoor optoelectronic system static data accuracy and simulated video injection testing, this invention provides dynamic accuracy of the optoelectronic system when tracking moving targets, evaluating its dynamic detection and tracking performance. Furthermore, by incorporating a high-temperature infrared heat source at the collimator light source, the indoor simulated infinity target can also simulate broadband infrared targets, satisfying the testing requirements for detection and tracking performance of different target bands in the optoelectronic system, significantly improving the efficiency of testing during the overall system integration and commissioning phase. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the multi-band optoelectronic system tracking performance testing device of the present invention;

[0018] Figure 2 This is a schematic diagram of the structure of the multi-band simulated infinite distance target and precision rotary axis system in the multi-band optoelectronic system tracking performance testing device of the present invention;

[0019] Figure 3 This is a schematic diagram of the precision rotary shaft system in the multi-band optoelectronic system tracking performance testing device of the present invention;

[0020] Figure 4 This is a schematic diagram illustrating the relationship between the self-coordinate system of the conical optical path and the spherical coordinate system xyz in the multi-band optoelectronic system tracking performance testing method of the present invention. Detailed Implementation

[0021] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, but these embodiments should not be construed as limiting the present invention.

[0022] This invention provides a multi-band photoelectric system tracking performance testing device, such as... Figure 1 A multi-band photoelectric system tracking performance testing device includes a multi-band simulated infinity target 1, a precision rotary axis system 2, a reflected optical path 3, a time synchronization device 4, a control system 5, and a support platform 7. Its main structure is as follows: the top surface of the support platform 7 is an inclined plane, on which the multi-band simulated infinity target 1 and the precision rotary axis system 2 are coaxially connected. The outlet of the precision rotary axis system 2 is provided with a reflected optical path 3; the first optical path is the optical path through which the multi-band simulated infinity target 1 passes through the precision rotary axis system 2 and is directly emitted to the photoelectric system under test 6, and this first optical path serves as the rotation axis; the second optical path is the optical path through which the multi-band simulated infinity target 1 passes through the precision rotary axis system 2 and then tilts downwards through the reflected optical path 3 to converge to the photoelectric system under test 6; when the precision rotary axis system 5... When axis 2 rotates around the first optical path as its rotation axis, the second optical path serves as the oblique generatrix of the conical optical path formed by the rotation. The convergence point of the second optical path at the measured photoelectric system 6 is taken as the vertex O of the conical optical path. A spherical coordinate system xyz is established with vertex O as its origin. The theoretical azimuth and elevation angles of the measured photoelectric system 6 are calculated based on the relationship between the conical optical path and the spherical coordinate system xyz. These theoretical values ​​are then compared with the actual measured azimuth and elevation angles of the measured photoelectric system 6 to calculate the tracking accuracy. The control system 5 is connected to the precision rotary axis 2, and the time synchronization device 4 is connected to the precision rotary axis 2.

[0023] like Figure 2 As shown, the reflected light path 3 includes two reflecting mirrors 31 and a rotating arm 32, and its specific structure is as follows:

[0024] The reflected light path 3 includes a rotating arm 32 disposed at the outlet of the precision rotating shaft system 2 and two reflectors 31 fixed on the rotating arm 32. One of the reflectors 31 is located on the light path passing through the precision rotating shaft system 2. A portion of the light passing through the precision rotating shaft system 2 passes through the reflector 31 to form a first light path, and another portion of the light passing through the precision rotating shaft system 2 is reflected by the reflector 31 to another reflector 31 at the edge of the rotating arm 32 to form a second light path.

[0025] The multi-band simulated infinity target 1 includes a blackbody and a visible light source 12 and a collimator 13, with a wavelength range of 0.4 μm to 12 μm. Its specific structure is as follows:

[0026] The multi-band simulated infinity target 1 includes a blackbody and a visible light source 12 and a collimator 13 connected coaxially in sequence. The blackbody in the blackbody and visible light source 12 is an adjustable temperature blackbody, and the collimator 13 is a Cassegrain collimator.

[0027] The blackbody in the blackbody and visible light source 12 is an adjustable temperature blackbody with a maximum temperature of 500 degrees Celsius. The collimator 13 mentioned above is a Cassegrain collimator with a focal length of 2 meters and an effective aperture of 200 mm. The effective reflectivity of the primary and secondary mirrors is 90%.

[0028] The precision rotary shaft system 2 described above includes a rotary shaft 211, a housing 212, a bearing 213, a circular grating 214, and a torque motor 215, as shown above. Figure 3 The circular grating 214 described above is a 26-bit resolution absolute wide-temperature circular grating, and the torque motor 215 described above is a separate permanent magnet DC torque motor. The circular grating 214 and the torque motor 215 described above are mounted on the rotary shaft 211 described above. The specific structure is as follows:

[0029] The precision rotary shaft system 2 includes a rotary shaft 211 with a cavity coaxial with the multi-band simulated infinity target 1. A circular grating 214 is provided on the side wall of the rotary shaft 211. A torque motor 215 and a housing 212 are arranged coaxially with the rotary shaft 211 from the inside to the outside on the outer wall of the rotary shaft 211. The rotor of the torque motor 215 is fixedly connected to the rotary shaft 211, and the stator of the torque motor 215 is fixedly connected to the housing 212. The housing 212 is connected to the rotary shaft 211 through a bearing 213.

[0030] The reflector 31, as described above, is made of K9 glass and is mounted on the rotating arm 32 as described above. When the precision rotary shaft system 2 moves, it drives the rotating arm 32 to rotate. The multi-band simulated infinite distance target 1 from the collimator 13 is reflected by the reflector 31 and forms a conical light path in space.

[0031] An embodiment of the multi-band photoelectric system tracking performance testing method of the present invention is as follows: Figure 4 The multi-band optoelectronic system tracking performance testing device and the optoelectronic system under test 6 are unified in the same coordinate system. The specific steps are as follows:

[0032] Step 1: The first and second optical paths formed by the reflection of the reflected optical path 3 of the multi-band photoelectric system tracking performance test device form a conical optical path. The convergence point of the first and second optical paths at the photoelectric system under test 6 is taken as the vertex O of the conical optical path.

[0033] Step 2: Establish a spherical coordinate system with vertex O as the origin. Define the first optical path as the rotation axis OR. Select any two points S1 and S2 on the rotation trajectory of the precision rotary axis system 2 of the multi-band photoelectric system tracking performance testing device. The center of the rotation trajectory is R, a is the half-cone angle ∠ROS2 of the conical optical path, b is the angle ∠ROy between the rotation axis OR and the horizontal plane, E is the pitch angle ∠S2OQ of the photoelectric system under test, and A is the azimuth angle ∠yOQ of the photoelectric system under test. When the multi-band simulated infinite distance target 1 rotates from S1 to S2, the angle rotated, i.e., the central angle of the rotation trajectory of the precision rotary axis system 2, is θ. The rotation trajectory of the precision rotary axis system 2 is... Figure 4 A circular dashed line is presented in the middle;

[0034] Step 3: Based on the spherical triangle O-S2ZR, establish the relationship between the 6 azimuth angle ∠yOQ and the 6 elevation angle ∠S2OQ of the tested photoelectric system, the semi-conical angle ∠ROS2 of the multi-band photoelectric system tracking performance testing device, and the angle ∠ROy between the rotation axis OR and the horizontal plane. According to the cosine and sine formulas of spherical triangle, we can obtain:

[0035] cos(90°-E)=cosa·cos(90°-b)+sina·sin(90°-b)·cosθ(1),

[0036]

[0037] After simplification, we can obtain the azimuth angle ∠yOQ and elevation angle ∠S2OQ of the tested optoelectronic system, as well as their relationship with other angles of the multi-band optoelectronic system tracking performance testing device, as follows:

[0038] E=arcsin(cosasinb+sinacosbcosθ) (3),

[0039]

[0040] Step 4: Based on the angle measuring element of the multi-band photoelectric system tracking performance testing device, the true angle value of the photoelectric system under test 6 can be obtained. Using this true value, the azimuth and elevation angles of the photoelectric system under test 6 should be obtained under actual conditions. The actual azimuth and elevation angles of the photoelectric system under test 6 are compared with the theoretical azimuth angle ∠yOQ and elevation angle ∠S2OQ under theoretical conditions. This error is calculated to determine the tracking accuracy.

[0041]

[0042]

[0043] Where Aim is the actual 6-azimuth angle of the measured photoelectric system, Ait is the theoretical 6-azimuth angle ∠yOQ of the measured photoelectric system, Eim is the actual 6-pitch angle of the measured photoelectric system, and Eit is the theoretical 6-pitch angle ∠S2OQ of the measured photoelectric system.

[0044] As described above, the inventive principle of this invention lies in: a multi-band photoelectric system tracking performance testing device and method. The multi-band photoelectric system tracking performance testing device includes a multi-band simulated infinity target 1, a precision rotating shaft system 2, a reflective optical path 3, a time synchronization device 4, a control system 5, and a support platform 7. The multi-band simulated infinity target 1 includes a blackbody and a visible light source 12, and a collimator 13, with a wavelength range of 0.4μm to 12μm. The reflective optical path 3 includes two reflectors 31 and a rotating arm 32.

[0045] As mentioned above, the blackbody in the blackbody and visible light source 12 is an adjustable temperature blackbody with a maximum temperature of 500 degrees Celsius, and the collimator 13 is a Cassegrain collimator with a focal length of 2 meters and an effective aperture of 200 mm. The effective reflectivity of the primary and secondary mirrors is 90%.

[0046] The precision rotary shaft system 2 described above includes a rotary shaft 211, a housing 212, a bearing 213, a circular grating 214, and a torque motor 215. The circular grating 214 described above is a 26-bit resolution absolute wide-temperature circular grating, and the torque motor 215 described above is a separate permanent magnet DC torque motor. The circular grating 214 and the torque motor 215 described above are mounted on the rotary shaft 211 described above.

[0047] The reflector 31, as described above, is made of K9 glass and is mounted on the rotating arm 32 as described above. When the precision rotary shaft system 2 moves, it drives the rotating arm 32 to rotate. The multi-band simulated infinite distance target 1 from the collimator 13 is reflected by the reflector 31 and forms a conical light path in space.

[0048] The multi-band photoelectric system tracking performance testing method described above is as follows: After assembling and debugging all the mechanical and electrical parts, the multi-band photoelectric system tracking performance testing device is started. After being reflected by the reflector 31 mounted on the rotating arm 32 driven by the precision rotating shaft system 2, the multi-band simulated infinite distance target 1 beam forms a conical optical path. The photoelectric system under test 6 is placed at the apex of the cone. The control system 5 uses the same time reference for the photoelectric system under test 6 and the multi-band photoelectric system tracking performance testing device. The photoelectric system under test 6 stably tracks the multi-band simulated infinite distance target 1 and records the three-dimensional data such as the azimuth angle, elevation angle, and distance value of the multi-band simulated infinite distance target 1. After the test is completed, the geodetic coordinate data of the multi-band photoelectric system tracking performance testing device and the photoelectric system under test 6 are converted to obtain the azimuth angle, elevation angle, and distance value of the multi-band photoelectric system tracking performance testing device relative to the photoelectric system under test 6 as the true value of the three-dimensional data. This is compared with the three-dimensional data measured by the photoelectric system under test 6. Using the error calculation scheme, the tracking performance and accuracy of the photoelectric system under test 6 are obtained.

[0049] As described above, the key to the multi-band photoelectric system tracking performance testing method lies in how to obtain the true value of the distance and angle actually moved by the multi-band simulated infinite distance target 1 relative to the photoelectric system under test 6: establish a spherical coordinate system xyz with the vertex O of the rotation center of the photoelectric system under test 6 as the origin, transform the coordinates of the multi-band photoelectric system tracking performance testing device to the spherical coordinate system of the photoelectric system, combine the angle measurement information of the circular grating 214 and the length of the rotating arm 32, and then place the multi-band simulated infinite distance target 1 generated by the multi-band photoelectric system tracking performance testing device into the coordinates of the photoelectric system under test 6 and use this as the true value to calculate the tracking accuracy of the photoelectric system under test 6.

[0050] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0051] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

Claims

1. A multi-band photoelectric system tracking performance testing device, comprising a support platform (7), characterized in that: The top surface of the support platform (7) is an inclined slope. A multi-band simulated infinity target (1) and a precision rotating shaft system (2) are coaxially connected on the inclined surface. The outlet of the precision rotating shaft system (2) is provided with a reflected light path (3). The multi-band simulated infinity target (1) includes a blackbody and a visible light source (12) and a collimator (13) coaxially connected in sequence. The reflected light path (3) includes a rotating arm (32) set at the outlet of the precision rotating shaft system (2) and two mirrors (31) fixed on the rotating arm (32). One of the mirrors (31) is located on the light path passing through the precision rotating shaft system (2). A portion of the light passing through the precision rotating shaft system (2) passes through the mirror (31) to form a first light path. Another portion of the light passing through the precision rotating shaft system (2) is reflected by the mirror (31) to another mirror (31) at the edge of the rotating arm (32) to form a second light path. The first optical path is the light path that is directly emitted from the multi-band simulated infinite distance target (1) through the precision rotating axis system (2) to the photoelectric system under test (6) and is used as the rotation axis; The optical path of the multi-band simulated infinite distance target (1) passing through the precision rotating axis system (2) and then tilting downwards through the reflected optical path (3) and converging into the photoelectric system under test (6) is used as the second optical path; When the precision rotary axis system (2) rotates with the first optical path as the rotation axis, the second optical path serves as the oblique generatrix of the conical optical path formed by the rotation. The convergence point of the second optical path at the photoelectric system under test (6) is taken as the vertex O of the conical optical path. A spherical coordinate system xyz with vertex O as the origin is established. The theoretical azimuth angle and pitch angle of the photoelectric system under test (6) are obtained according to the relationship between the conical optical path and the spherical coordinate system xyz. The theoretical value is then compared with the actual measured azimuth angle and pitch angle of the photoelectric system under test (6) to calculate the tracking accuracy.

2. The multi-band photoelectric system tracking performance testing device according to claim 1, characterized in that: The precision rotary shaft system (2) includes a rotary shaft (211) with a cavity coaxial with the multi-band simulated infinite distance target (1). A circular grating (214) is provided on the side wall of the rotary shaft (211). A torque motor (215) and a housing (212) are arranged coaxially with the rotary shaft (211) from the inside to the outside. The rotor of the torque motor (215) is fixedly connected to the rotary shaft (211). The stator of the torque motor (215) is fixedly connected to the housing (212). The housing (212) is connected to the rotary shaft (211) through a bearing (213).

3. The multi-band photoelectric system tracking performance testing device according to claim 2, characterized in that: The blackbody in the blackbody and visible light source (12) is an adjustable temperature blackbody, and the collimator (13) is a Cassegrain collimator.

4. The multi-band photoelectric system tracking performance testing device according to claim 3, characterized in that: It also includes a control system (5) whose control end is connected to the precision rotary shaft system (2), and a time synchronization device (4) whose signal end is connected to the precision rotary shaft system (2).

5. A method for testing the tracking performance of a multi-band optoelectronic system using a multi-band optoelectronic system tracking performance testing device as described in any one of claims 1 to 4, wherein the multi-band optoelectronic system tracking performance testing device and the optoelectronic system under test (6) are unified in the same coordinate system, characterized in that: The steps include the following: Step 1: The first and second optical paths formed by the reflection of the multi-band optoelectronic system tracking performance test device (3) form a conical optical path. The point where the first and second optical paths converge in the optoelectronic system under test (6) is taken as the vertex O of the conical optical path. Step 2: Establish a spherical coordinate system xyz with vertex O as the origin, define the first optical path as the rotation axis OR, and select any two points S1 and S2 on the rotation trajectory of the precision rotation axis system of the multi-band photoelectric system tracking performance test device (2). The center of the rotation trajectory is R, a is the half cone angle ∠ROS2 of the conical optical path, b is the angle ∠ROy between the rotation axis OR and the horizontal plane, E is the pitch angle ∠S2OQ of the photoelectric system under test (6), A is the azimuth angle ∠yOQ of the photoelectric system under test (6), and θ is the central angle ∠S1RS2 when rotating from S1 to S2 in the multi-band simulated infinite distance target (1). Step 3: Based on the spherical triangle O-S2ZR, and based on the relationship between the azimuth angle ∠yOQ and the pitch angle ∠S2OQ of the photoelectric system under test (6), the half-cone angle ∠ROS2 of the multi-band photoelectric system tracking performance test device, and the angle ∠ROy between the rotation axis OR and the horizontal plane, obtain the theoretical azimuth angle ∠yOQ and pitch angle ∠S2OQ of the photoelectric system under test (6). Step 4: Obtain the true angle value of the photoelectric system (6) under test based on the angle measuring element of the multi-band photoelectric system tracking performance test device. Calculate the azimuth and elevation angles of the photoelectric system (6) under actual conditions based on the true value. Compare the theoretical azimuth angle ∠yOQ of the photoelectric system (6) with the actual azimuth angle of the photoelectric system (6), and the theoretical elevation angle ∠S2OQ of the photoelectric system (6) with the actual elevation angle of the photoelectric system (6), and calculate the tracking accuracy accordingly.

6. The method for testing the tracking performance of a multi-band optoelectronic system according to claim 5, characterized in that: The specific process of step three is as follows: The relationship between the azimuth angle ∠yOQ and the elevation angle ∠S2OQ of the tested photoelectric system (6) and the half-cone angle ∠ROS2 of the multi-band photoelectric system tracking performance test device and the angle ∠ROy between the rotation axis OR and the horizontal plane is obtained according to the spherical trigonometric cosine and sine formulas: （1）， （2）， After simplification, the azimuth angle ∠yOQ and the pitch angle ∠S2OQ of the photoelectric system under test (6) are obtained as follows: （3）， （4）。 7. The method for testing the tracking performance of a multi-band optoelectronic system according to claim 6, characterized in that: In step four, the calculation process for tracking accuracy is as follows: （5）， in, A im It is the azimuth angle of the actual photoelectric system being measured (6). A it Theoretically, the azimuth angle ∠yOQ of the photoelectric system being measured (6) is... E im The actual pitch angle of the photoelectric system under test (6) E it Theoretically, the pitch angle of the photoelectric system being measured is (6) ∠S2OQ.

8. The method for testing the tracking performance of a multi-band optoelectronic system according to claim 7, characterized in that: In step four, the angle measuring element is a circular grating (214).

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