Indoor dynamic imaging test device and method

Abstract

The present invention relates to a testing device and method for a spatial high-resolution optoelectronic tracking and aiming system, and more specifically to an indoor dynamic imaging testing device and method. The device addresses the technical problem that existing indoor dynamic imaging testing devices are unable to meet the requirements for capturing and tracking performance testing of large-aperture, high-precision, and long-focal-length spatial high-resolution optoelectronic tracking and aiming systems. The indoor dynamic imaging testing device comprises a support module, a two-dimensional motion simulation unit, an output torque testing module, and a control module. The two-dimensional motion simulation unit comprises an azimuth unit and a pitch unit. The azimuth unit is rotationally connected to the inner bottom of the U-shaped end of the support module. The pitch unit is rotationally connected to the azimuth unit, and a spatial motion target simulation module is provided on the pitch unit. The output torque testing module is used to set up the spatial tracking and aiming system to be tested and monitor the external torque output by the spatial tracking and aiming system to be tested in real time. The method can capture the two-dimensional motion trajectory of the spatial tracking and aiming system to be tested in a full 360° range in real time.

Description

Technical Field

[0001] The present invention relates to a testing device and method for a space high-resolution optoelectronic tracking and aiming system, and in particular to an indoor dynamic imaging testing device and method. Background Art

[0002] A high-resolution space electro-optical tracking and aiming system generally consists of a two-dimensional turntable, a camera mounted on it, and an electronic control box that drives and controls these components. The electronic control box controls the two-dimensional rotation of the turntable according to a specific operating mode, driving the camera mounted on it to accurately track and image moving targets in space. To test the dynamic tracking accuracy of the high-resolution space electro-optical tracking and aiming system and the imaging quality of the camera, an indoor dynamic imaging test device is required to test the various performance characteristics of the space high-resolution electro-optical tracking and aiming system.

[0003] With the development of large-aperture, long-focal-length, spatially high-resolution optoelectronic tracking and aiming systems, their weight and volume have increased significantly, and their accuracy and other performance indicators have also been greatly improved. This requires the corresponding indoor dynamic imaging test equipment to be larger in size and scale, more comprehensive in functions, more flexible and accurate in testing methods, and have higher testing accuracy.

[0004] However, the existing indoor dynamic imaging test equipment has a small span (less than 4 meters) and low accuracy (less than 15 seconds), which cannot meet the large space and high precision requirements of the spatial high-resolution optoelectronic tracking and aiming system with large aperture and long focal length. It is also unable to track and perform performance tests on the spatial high-resolution optoelectronic tracking and aiming system within the entire motion range. In addition, the existing indoor dynamic imaging test equipment can only provide an autocollimator for infinitely moving targets with single-axis rotation (i.e., only the azimuth part or only the pitch part) to test the capture and tracking performance of the spatial high-resolution optoelectronic tracking and aiming system, and the movement speed and acceleration of the device cannot meet the requirements of fast startup and fast movement. Summary of the Invention

[0005] The purpose of the present invention is to solve the technical problem that the existing indoor dynamic imaging test device is difficult to meet the large-aperture, high-precision, long-focal-length spatial high-resolution optoelectronic tracking and aiming system capture and tracking performance test, and to provide an indoor dynamic imaging test device and method.

[0006] The present invention adopts the following technical solutions:

[0007] An indoor dynamic imaging test device, which is special in that it includes a support module, a two-dimensional motion simulation unit, an output torque test module and a control module;

[0008] It is a U-shaped structure with the U-shaped end facing downwards. The two-dimensional motion simulation unit is set on the U-shaped inner bottom of the support module; the output torque test module is used to set the tracking system of the space to be tested;

[0009] The two-dimensional motion simulation unit includes an azimuth unit and a pitch unit; the azimuth unit is rotationally connected to the inner bottom of the U-shaped end of the support module; the pitch unit is sleeved inside the azimuth unit, and the outer wall of the pitch unit is rotationally connected to the inner wall of the azimuth unit, and the rotation axis is located in the horizontal plane; a space motion target simulation module is set at the center of the pitch unit, and the space motion target simulation module is located within the field of view of the space tracking and aiming system to be tested; the output torque test module is used to monitor the external torque output by the space tracking and aiming system to be tested in real time;

[0010] The control module is electrically connected to the azimuth unit, pitch unit and output torque test module respectively; the azimuth unit is used to drive the pitch unit to rotate along its central axis; the pitch unit is used to drive the space motion target simulation module to rotate along the horizontal axis; the space motion target simulation module is used to simulate the actual motion characteristics of the space motion target; the control module is used to control the azimuth unit and the pitch unit to drive the space motion target simulation module to move according to a predetermined trajectory, and receive the external torque monitored by the output torque test module in real time.

[0011] Furthermore, the space motion target simulation module includes a point light source and a collimator; the point light source is arranged at the rear end of the collimator; the collimator is arranged on the pitch unit, and the collimator is used to image the point light source to infinity to form a space motion target.

[0012] Furthermore, the azimuth unit includes an azimuth mounting component and an azimuth electrical component; the azimuth mounting component includes an azimuth U-shaped frame with an opening facing downward, an azimuth axis and an azimuth bearing; the azimuth electrical component includes an azimuth motor, an azimuth encoder and an azimuth fiber optic gyroscope, which are electrically connected to the control module respectively;

[0013] The upper end of the azimuth axis is installed on the U-shaped inner bottom of the support module through an azimuth bearing. The output shaft of the azimuth motor is connected to the upper end of the azimuth axis, and the lower end is fixed to the center of the U-shaped outer bottom of the azimuth U-shaped frame; the azimuth encoder is used to test the azimuth angle of the space motion target simulation module; the azimuth fiber optic gyroscope is used to test the azimuth accuracy of the space motion target simulation module.

[0014] Furthermore, the pitch unit includes a pitch mounting component and a pitch electrical component; the pitch mounting component includes a pitch U-shaped frame with an opening facing downward, two pitch axes and two pitch bearings; the pitch electrical component includes two pitch motors electrically connected to the control module, a pitch encoder and a pitch fiber optic gyroscope;

[0015] The two pitch axes are respectively mounted on the two U-shaped arms of the azimuth U-shaped frame through pitch bearings, and the axes of the two pitch axes are located on the same horizontal axis;

[0016] One end of each pitch axis is connected to the output shaft of the pitch motor, and the other end is fixed to the corresponding U-shaped arm of the pitch U-shaped frame; the pitch encoder is used to test the pitch angle of the space motion target simulation module; the pitch fiber optic gyroscope is used to test the pitch accuracy of the space motion target simulation module;

[0017] The parallel light tube is arranged at the center of the inner bottom of the pitch U-shaped frame.

[0018] Furthermore, the support module is 7 meters wide and 10 meters high; the point light source adopts a starry sky background simulator; the rotation angle of the azimuth U-shaped frame along the azimuth axis is ±180°; the rotation angle of the pitch U-shaped frame along the pitch axis is ±90°.

[0019] At the same time, the present invention also provides a testing method based on the above-mentioned indoor dynamic imaging testing device, which is special in that it includes the following steps:

[0020] Step 1: Build an indoor dynamic imaging test device;

[0021] Step 2: Debug;

[0022] Align the position of the space tracking and aiming system to be tested with the space moving target simulation module so that the space moving target simulation module is located in the field of view of the space tracking and aiming system to be tested;

[0023] Step 3, controlling the rotation of the space motion target simulation module;

[0024] The control module controls the azimuth unit and the pitch unit in the two-dimensional motion simulation unit, so that the azimuth unit and the pitch unit drive the space motion target simulation module to move along a predetermined trajectory;

[0025] Step 4: The space tracking and aiming system to be tested shoots a space moving target simulation module;

[0026] The space tracking and aiming system to be tested is used to collect information of the space motion target simulation module and image it on its camera; at the same time, the control module monitors and records the external torque of the space tracking and aiming system to be tested in real time through the output torque test module;

[0027] Step 5: Obtain the tracking accuracy of the tracking and aiming system in the space to be measured and the imaging quality of the camera;

[0028] The tracking and aiming system of the space to be measured processes the collected information to obtain the tracking accuracy of the tracking and aiming system of the space to be measured and the imaging quality of the camera.

[0029] Furthermore, step 2 is specifically as follows:

[0030] The camera of the tracking and aiming system in the space to be measured is aimed at the collimator installed at the upper end of the pitch U-shaped frame, and the point light source installed at the rear end of the collimator is imaged at the center of the camera's field of view through the collimator.

[0031] Furthermore, step 3 is specifically as follows:

[0032] The control module sends instructions to the azimuth motor and pitch motor according to the azimuth encoder and azimuth fiber optic gyroscope, and the pitch encoder and pitch fiber optic gyroscope, so that the space motion target simulation module moves according to the predetermined speed, acceleration and rotation angle.

[0033] Furthermore, step 4 is specifically as follows:

[0034] The space tracking and aiming system to be tested is used to collect information of the space moving target formed by the parallel light tube and the point light source and image it on its camera; at the same time, the control module monitors and records the external torque of the space tracking and aiming system to be tested in real time through the output torque test module; the space moving target is the starry sky background.

[0035] Furthermore, in step 5, the collected information includes image data, speed data, acceleration data, and angle data.

[0036] Beneficial effects of the present invention:

[0037] 1. The present invention provides an indoor dynamic imaging test device, which uses a large-span support module and a high-precision two-dimensional motion simulation module equipped with a space motion target simulation module to simulate the motion trajectory of the space motion target. At the same time, it collects the external torque output in real time by the output torque test module during the motion of the space tracking and aiming system under test, so that its accuracy is better than 10 seconds and the startup time is better than 1 second.

[0038] 2. The indoor dynamic imaging test device of the present invention has the advantages of fast movement speed, large test space and long focal length.

[0039] 3. The indoor dynamic imaging test device of the present invention has the advantages of wide versatility and the ability to detect the output external torque.

[0040] 4. The indoor dynamic imaging test device of the present invention has the advantages of adjustable light source size and brightness and wide coverage.

[0041] 5. The present invention provides an indoor dynamic imaging test method. During the test process, the azimuth unit and the pitch unit can capture the two-dimensional motion trajectory of the spatial motion target simulation module in real time and within a full 360° range, thereby obtaining the tracking accuracy of the spatial tracking and aiming system to be tested and the imaging quality of the camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1It is a structural schematic diagram of an embodiment of an indoor dynamic imaging test device of the present invention;

[0043] Figure 2 This is an electrical connection block diagram of an embodiment of an indoor dynamic imaging test device of the present invention.

[0044] Description of reference numerals:

[0045] 1. Support module; 2. Two-dimensional motion simulation unit; 3. Azimuth unit; 31. Azimuth U-shaped frame; 32. Azimuth axis; 33. Azimuth motor; 34. Azimuth encoder; 35. Azimuth fiber optic gyroscope; 4. Point light source; 5. Pitch unit; 51. Pitch U-shaped frame; 52. Pitch axis; 53. Pitch motor; 54. Pitch encoder; 55. Pitch fiber optic gyroscope; 6. Collimator; 7. Tracking system for the space to be tested; 8. Output torque test module; 9. Control module. DETAILED DESCRIPTION

[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0047] like Figure 1 、 Figure 2 As shown, an indoor dynamic imaging test device includes a support module 1, a two-dimensional motion simulation unit 2, an output torque test module 8 and a control module 9; the support module 1 is a U-shaped structure, with its U-shaped port facing downward, and the two-dimensional motion simulation unit 2 is arranged on the U-shaped inner bottom of the support module 1; the output torque test module 8 is used to set the space tracking and aiming system 7 to be tested; the two-dimensional motion simulation unit 2 includes an azimuth unit 3 and a pitch unit 5; the azimuth unit 3 is rotationally connected to the inner bottom of the U-shaped end of the support module 1; the pitch unit 5 is sleeved inside the azimuth unit 3, and the outer wall of the pitch unit 5 is rotationally connected to the inner wall of the azimuth unit 3, and the rotation axis is located in the horizontal plane; a space motion target simulation module is arranged at the center of the pitch unit 5, and the space motion target simulation module is located in the field of view of the space tracking and aiming system 7 to be tested.

[0048] The output torque test module 8 is used to monitor the external torque output by the space tracking and aiming system 7 under test in real time. The control module 9 is electrically connected to the azimuth unit 3, the pitch unit 5, and the output torque test module 8. The azimuth unit 3 is used to drive the pitch unit 5 to rotate along its central axis. The pitch unit 5 is used to drive the space moving target simulation module to rotate along its horizontal axis. The space moving target simulation module is used to simulate the actual motion characteristics (size, brightness) of the space moving target. The two-dimensional motion simulation unit 2 is used to simulate the motion characteristics (trajectory, velocity, and acceleration) of the space moving target, so that the space moving target mounted thereon rotates according to a predetermined trajectory, providing a space moving target for the space tracking and aiming system 7 under test. The control module 9 is used to control the azimuth unit 3 and the pitch unit 5 to drive the space moving target simulation module to move along the predetermined trajectory, and to receive the external torque monitored by the output torque test module 8 in real time.

[0049] The spatial moving target simulation module includes a point light source 4 and a collimator 6. The point light source 4 is positioned at the rear end of the collimator 6, which is mounted on the pitch unit 5. The collimator 6 is used to project the image of the point light source 4 to infinity, forming a spatial moving target. By installing and replacing different types of point light sources 4 at the focal plane of the collimator 6, the characteristics of different spatial moving targets can be simulated. The spatial tracking and aiming system 7 to be tested can then image different spatial moving targets and, through subsequent data processing and image quality assessment, complete the tracking accuracy of the spatial tracking and aiming system 7 and the imaging quality of the camera.

[0050] The azimuth unit 3 includes an azimuth mounting component and an azimuth electrical component; the azimuth mounting component includes an azimuth U-shaped frame 31 with an opening facing downward, an azimuth shaft 32 and an azimuth bearing; the azimuth electrical component includes an azimuth motor 33, an azimuth encoder 34 and an azimuth fiber optic gyroscope 35, which are electrically connected to the control module 9 respectively; the output shaft of the azimuth motor 33 is connected to the upper end of the azimuth shaft 32, and the upper end of the azimuth shaft 32 is rotatably connected to the U-shaped inner bottom of the support module 1 through the azimuth bearing, and the lower end is fixedly connected to the center of the U-shaped outer bottom of the azimuth U-shaped frame 31; the azimuth encoder 34 is used to test the azimuth angle of the space motion target simulation module; the azimuth fiber optic gyroscope 35 is used to test the azimuth accuracy of the space motion target simulation module.

[0051] The pitch unit 5 includes a pitch mounting component and a pitch electrical component; the pitch mounting component includes a pitch U-shaped frame 51 with an opening facing downward, two pitch axes 52 and two pitch bearings; the pitch electrical component includes two pitch motors 53, a pitch encoder 54 and a pitch fiber optic gyroscope 55, which are respectively electrically connected to the control module 9; the two pitch axes 52 are respectively mounted on the two U-shaped arms of the azimuth U-shaped frame 31 through pitch bearings, and the axes of the two pitch axes 52 are located on the same horizontal axis; one end of each pitch axis 52 is connected to the output shaft of the pitch motor 53, and the other end is fixedly connected to the corresponding U-shaped arm of the pitch U-shaped frame 51; the pitch encoder 54 is used to test the pitch angle of the space motion target simulation module; the pitch fiber optic gyroscope 55 is used to test the pitch accuracy of the space motion target simulation module; the collimator 6 is arranged at the center of the inner bottom of the pitch U-shaped frame 51 and is located in the central field of view of the camera of the space tracking system 7 to be tested.

[0052] For ease of installation, the support module 1, the azimuth U-shaped frame 31, and the pitch U-shaped frame 51 are coaxially arranged; the support module 1 is 7 meters wide and 10 meters high; the point light source 4 uses a starry sky background simulator. The starry sky background simulator is used to provide a starry sky background; when the test environment is dark, the target simulated by the space motion target simulation module can be considered to be the starry sky background. The starry sky background is used to simulate and produce a high-precision and high-definition simulated starry sky background. By replacing the specifications of the point light source 4 at the rear end of the parallel light tube 6, stars and planets of different brightness can be simulated, providing a space motion target that is almost the same as the real starry sky. By installing the starry sky background on the pitch U-shaped frame 51 on the two-dimensional motion simulation unit 2, space motion targets of different distances, different sizes, different relative motion speeds, and different lighting conditions under a complex space starry sky background can be simulated.

[0053] The rotation angle of the azimuth U-shaped frame 31 along the azimuth axis 32 is ±180°; the rotation angle of the pitch U-shaped frame 51 along the pitch axis 52 is ±90°; at the same time, the collected azimuth angle, pitch angle, azimuth accuracy and pitch accuracy data are transmitted to the control module 9, and the control module 9 ensures that the speed accuracy and rotation angle range of the space motion target simulation module meet the accuracy requirements through software correction.

[0054] Before the test, the up-down and left-right positions of the azimuth unit 3 and the pitch unit 5 are adjusted so that the space moving target simulation module is located at the center field of view of the camera of the space tracking and aiming system 7 to be tested, and the image of the point light source 4 at the rear end of the collimator 6 is formed in the center field of view of the camera after passing through the collimator 6.

[0055] During operation, the control module 9 sends instructions to the azimuth motor 33 and the two pitch motors 53 according to the azimuth encoder 34 and the azimuth fiber optic gyroscope 35, the pitch encoder 54 and the pitch fiber optic gyroscope 55, respectively, thereby controlling the azimuth U-shaped frame 31, the azimuth axis 32, the pitch U-shaped frame 51 and the two pitch axes 52 to move according to a predetermined trajectory, that is, to rotate within a predetermined speed, acceleration, and rotation angle range. This rotation trajectory can be regarded as the motion trajectory of a space moving target. Under the control of its own electronic control box, the tracking and aiming system 7 to be tested rotates, tracks, and aims according to the corresponding motion trajectory, that is, a certain speed, acceleration, and rotation angle range. After imaging the starry sky target in the observed space moving target simulation module on the camera, the collected image, speed, acceleration, angle and other data are stored. After subsequent data processing, the tracking accuracy of the space tracking and aiming system 7 to be tested and the imaging quality of the camera can be obtained. At the same time, the control module 9 receives the external torque output in real time by the space tracking and aiming system 7 to be tested during the above-mentioned movement through the output torque testing module 8 and records the external torque.

[0056] At the same time, the present invention also provides an indoor dynamic imaging test method, based on the above-mentioned indoor dynamic imaging test device, comprising the following steps:

[0057] Step 1: Build an indoor dynamic imaging test device;

[0058] Step 2: Debug before testing;

[0059] Aim the camera of the tracking and aiming system 7 of the space to be measured at the collimator 6 installed at the upper end of the pitch U-shaped frame 51, and image the point light source 4 installed at the rear end of the collimator 6 at the center of the camera's field of view through the collimator 6;

[0060] Step 3, controlling the rotation of the space motion target simulation module;

[0061] During the test, the control module 9 sends instructions to the azimuth motor 33 and the pitch motor 53 according to the azimuth encoder 34 and the azimuth fiber optic gyroscope 35, and the pitch encoder 54 and the pitch fiber optic gyroscope 55, respectively, so that the space motion target simulation module moves according to the predetermined trajectory;

[0062] Step 4: The space tracking and aiming system 7 to be tested shoots the space moving target simulation module;

[0063] The space tracking and aiming system 7 to be tested collects information about the space moving target formed by the collimator 6 and the point light source 4 and images it on its camera. Simultaneously, the control module 9 monitors and records the external torque of the space tracking and aiming system 7 to be tested in real time through the output torque test module 8. The predetermined trajectory includes the predetermined speed, acceleration, and rotation angle. The space moving target is the starry sky background.

[0064] Step 5: Obtain the tracking accuracy of the tracking and aiming system 7 and the imaging quality of the camera in the space to be measured;

[0065] The tracking and aiming system 7 stores the collected information and then processes it to determine the tracking accuracy of the tracking and aiming system 7 and the imaging quality of the camera. The collected information includes image data, velocity data, acceleration data, and angle data; the collected information is used to evaluate the tracking and aiming system 7.

[0066] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present invention shall be covered by the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. An indoor dynamic imaging test device, characterized by: It comprises a support module (1), a two-dimensional motion simulation unit (2), an output torque test module (8) and a control module (9); The support module (1) is a U-shaped structure, with its U-shaped end facing downward, and the two-dimensional motion simulation unit (2) is arranged on the U-shaped inner bottom of the support module (1); The output torque test module (8) is used to set the space tracking system (7) to be tested; The two-dimensional motion simulation unit (2) comprises an azimuth unit (3) and a pitch unit (5); the azimuth unit (3) is rotationally connected to the inner bottom of the U-shaped end of the support module (1); the pitch unit (5) is sleeved inside the azimuth unit (3), and the outer wall of the pitch unit (5) is rotationally connected to the inner wall of the azimuth unit (3), and the rotation axis is located in a horizontal plane; a space motion target simulation module is provided at the center of the pitch unit (5), and the space motion target simulation module is located in the field of view of the space tracking and aiming system (7) to be measured; The output torque test module (8) is used to monitor in real time the external torque output by the space tracking and aiming system (7) to be tested; The control module (9) is electrically connected to the azimuth unit (3), the pitch unit (5) and the output torque test module (8) respectively; the azimuth unit (3) is used to drive the pitch unit (5) to rotate along its central axis; the pitch unit (5) is used to drive the space motion target simulation module to rotate along the horizontal axis; the space motion target simulation module is used to simulate the actual motion characteristics of the space motion target; the control module (9) is used to control the azimuth unit (3) and the pitch unit (5) to drive the space motion target simulation module to move according to a predetermined trajectory, and to receive the external torque monitored by the output torque test module (8) in real time.

2. The indoor dynamic imaging test device according to claim 1, characterized in that: The space moving target simulation module includes a point light source (4) and a parallel light pipe (6); The point light source (4) is arranged at the rear end of the parallel light tube (6); The collimator (6) is arranged on the pitch unit (5), and is used to image the point light source (4) to infinity, forming a spatial motion target.

3. The indoor dynamic imaging test device according to claim 2, characterized in that: The orientation unit (3) includes an orientation installation component and an orientation electrical component; The azimuth mounting component comprises an azimuth U-shaped frame (31) with an opening facing downward, an azimuth shaft (32) and an azimuth bearing; The azimuth electrical components include an azimuth motor (33), an azimuth encoder (34), and an azimuth fiber optic gyroscope (35), which are electrically connected to the control module (9) respectively; The upper end of the azimuth shaft (32) is mounted on the U-shaped inner bottom of the support module (1) via an azimuth bearing, the output shaft of the azimuth motor (33) is connected to the upper end of the azimuth shaft (32), and the lower end is fixedly connected to the center of the U-shaped outer bottom of the azimuth U-shaped frame (31); The azimuth encoder (34) is used to test the azimuth angle of the space moving target simulation module; The azimuth fiber optic gyroscope (35) is used to test the azimuth accuracy of a space motion target simulation module.

4. The indoor dynamic imaging test device according to claim 3, characterized in that: The pitch unit (5) comprises a pitch installation component and a pitch electrical component; The pitch installation component comprises a pitch U-shaped frame (51) with an opening facing downward, two pitch axes (52) and two pitch bearings; The pitch electrical components include two pitch motors (53) electrically connected to the control module (9), a pitch encoder (54) and a pitch fiber optic gyroscope (55); The two pitch axes (52) are respectively mounted on the two U-shaped arms of the azimuth U-shaped frame (31) through pitch bearings, and the axes of the two pitch axes (52) are located on the same horizontal axis; One end of each pitch axis (52) is connected to the output shaft of the pitch motor (53), and the other end is fixedly connected to the corresponding U-shaped arm of the pitch U-shaped frame (51); The pitch encoder (54) is used to test the pitch angle of the space motion target simulation module; The pitch fiber optic gyroscope (55) is used to test the pitch accuracy of a space motion target simulation module; The collimator (6) is arranged at the center of the inner bottom of the pitch U-shaped frame (51).

5. The indoor dynamic imaging test device according to claim 4, characterized in that: The support module (1) has a width of 7 meters and a height of 10 meters; The point light source (4) adopts a starry sky background simulator; The rotation angle of the azimuth U-shaped frame (31) along the azimuth axis (32) is ±180°; The rotation angle of the pitch U-shaped frame (51) along the pitch axis (52) is ±90°.

6. An indoor dynamic imaging test method, based on the indoor dynamic imaging test device according to any one of claims 1 to 5, characterized in that: The following steps are involved: Step 1: Build an indoor dynamic imaging test device; Step 2: Debug; The space tracking and aiming system (7) to be tested is aligned with the position of the space moving target simulation module so that the space moving target simulation module is located in the field of view of the space tracking and aiming system (7) to be tested; Step 3, controlling the rotation of the space motion target simulation module; The control module (9) controls the orientation unit (3) and the pitch unit (5) in the two-dimensional motion simulation unit (2), so that the orientation unit (3) and the pitch unit (5) drive the spatial motion target simulation module to move according to a predetermined trajectory; Step 4: the space tracking and aiming system to be tested (7) shoots the space moving target simulation module; The space tracking and aiming system (7) to be tested is used to collect information of the space motion target simulation module and image it on its camera; at the same time, the control module (9) monitors and records the external torque of the space tracking and aiming system (7) to be tested in real time through the output torque test module (8); Step 5: Obtain the tracking accuracy of the tracking and aiming system (7) in the space to be measured and the imaging quality of the camera; The space tracking and aiming system (7) to be measured processes the collected information to obtain the tracking accuracy of the space tracking and aiming system (7) to be measured and the imaging quality of the camera.

7. An indoor dynamic imaging test method according to claim 6, characterized in that: Step 2 is as follows: The camera of the space tracking and aiming system (7) to be measured is aimed at the collimator (6) at the upper end of the pitch U-shaped frame (51), and the point light source (4) installed at the rear end of the collimator (6) is imaged at the central field position of the camera through the collimator (6).

8. An indoor dynamic imaging test method according to claim 7, characterized in that: Step 3 is as follows: The control module (9) sends instructions to the azimuth motor (33) and the pitch motor (53) according to the azimuth encoder (34) and the azimuth fiber optic gyroscope (35), and the pitch encoder (54) and the pitch fiber optic gyroscope (55), respectively, so that the space motion target simulation module moves according to a predetermined speed, acceleration, and rotation angle.

9. An indoor dynamic imaging test method according to claim 8, characterized in that: Step 4 is as follows: The space tracking and aiming system (7) to be tested is used to collect information of a space moving target formed by a collimator (6) and a point light source (4) and image it on its camera; at the same time, the control module (9) monitors and records the external torque of the space tracking and aiming system (7) to be tested in real time through the output torque test module (8); the space moving target is a starry sky background.

10. The indoor dynamic imaging test method according to claim 9, characterized in that: In step 5, the collected information includes image data, speed data, acceleration data and angle data.

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