Airborne photoelectric equipment and airborne photoelectric searching and tracking method

Abstract

Airborne optoelectronic equipment comprises a scanning device. The scanning device comprises a scanning imaging assembly and a scanning positioning assembly used for obtaining target positioning information. The system further comprises a tracking device. The tracking device comprises a tracking imaging assembly; the tracking imaging assembly comprises a visible light camera and a thermal infrared imager; after the scanning imaging assembly finds a target, the scanning positioning assembly sends positioning information of the target to the tracking device, and the tracking imaging assembly identifies and tracks the target according to the positioning information of the target. According to the invention, the real-time tracking and accurate identification of the target can be realized while the ground wide area search or target scanning can be realized.

Description

Technical Field

[0001] The invention relates to the technical field of airborne optoelectronic reconnaissance, tracking and monitoring, and in particular to an airborne optoelectronic device and an airborne optoelectronic search and tracking method. Background Art

[0002] Airborne optoelectronic equipment refers to optoelectronic detection systems installed on aircraft, drones or other aviation platforms, which are mainly used to collect visible light, infrared and laser signals to detect, identify and track ground, surface or air targets. These devices are widely used in military reconnaissance, surveillance, navigation, environmental monitoring and other fields. Airborne optoelectronic equipment usually includes optoelectronic pods, which integrate a variety of sensors such as visible light cameras, infrared imagers and laser rangefinders. They are able to perform reconnaissance and surveillance tasks under various environmental conditions and are characterized by concealment and high precision.

[0003] The prior art with application number: 201611129165.4 discloses an airborne dual-band optoelectronic wide-area reconnaissance and tracking device, including: an image processing and tracking module, used to process pictures and / or videos obtained by visible light television and infrared thermal imager, and send them to a control and management module; a communication interface module, used to send navigation information provided by the airborne inertial navigation to the control and management module; a control and management module, used to control the switching of the optoelectronic turret between two working modes: wide-area search mode and tracking and monitoring mode; receiving data from the image processing and tracking module and the angle measurement module, and performing data processing.

[0004] The defect of the existing technology is that it is impossible to achieve real-time tracking and accurate identification of targets while searching or scanning targets over a wide area. That is, the airborne optoelectronic equipment cannot perform real-time tracking when searching and scanning, and cannot perform search scanning when tracking in real time. This limits the adaptability and multi-task processing capabilities of airborne optoelectronic equipment in complex battlefield environments, and may result in the inability to effectively scan and track multiple targets at the same time when performing reconnaissance and surveillance tasks, thereby reducing mission efficiency and effectiveness. Summary of the invention

[0005] In view of the above-mentioned defects of the prior art, the present invention provides an airborne optoelectronic device and an airborne optoelectronic search and tracking method, which can realize real-time tracking and accurate identification of targets while realizing wide-area search or scanning of targets on the ground.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is: An airborne optoelectronic device comprises a scanning device; the scanning device comprises a scanning imaging component and a scanning positioning component for obtaining target positioning information; and further comprises a tracking device; the tracking device comprises a tracking imaging component; the tracking imaging component comprises a visible light camera and an infrared thermal imager; after the scanning imaging component finds the target, the scanning positioning component sends the positioning information of the target to the tracking device, and the tracking imaging component identifies and tracks the target according to the positioning information of the target.

[0007] Existing airborne optoelectronic equipment combines scanning and tracking functions in one. In order to achieve wide ground area scanning, the focal length of the lens is usually short to obtain a larger field of view, allowing the equipment to cover a wider area. However, a shorter focal length also means that the image captured by the lens has a lower resolution, resulting in an insufficient number of imaging pixels. This insufficient number of pixels limits the device's ability to capture target details, so that although the outline of the target can be roughly identified, it cannot provide enough details for accurate target identification, making it impossible to achieve automatic detection, identification, tracking and positioning of specific targets. Therefore, when it is necessary to switch from scanning mode to tracking mode, the focal length of the lens must be adjusted in order to obtain a higher resolution image to achieve automatic detection, identification, tracking and positioning of specific targets.

[0008] The present invention takes into account both wide-area scanning and high-precision target tracking and identification capabilities. The scanning device is mounted on the aircraft and is used to perform wide-area scanning with a vertical downward view to search for suspicious targets in the reconnaissance area. The tracking device receives the threat target information discovered by the scanning device, and automatically points to the threat target position to track the threat target. Since the scanning device and the tracking device both have independently working imaging components, the scanning device can perform other scanning tasks at the same time while the tracking device is tracking. Wide-area scanning and target tracking and identification do not affect each other, which improves the application capability of the equipment.

[0009] Preferably, the scanning device further comprises a scanning inertial navigation component for acquiring attitude information and position information of the scanning imaging component; the attitude information comprises pitch angle, roll angle and heading angle information of the scanning imaging component.

[0010] When the scanning device successfully captures the target, in order to ensure that the tracking device can accurately lock and track the target, it is necessary not only to transmit the target positioning information obtained by the scanning positioning component, but also to provide detailed attitude information of the scanning imaging component. This includes information such as the pitch angle, roll angle and heading angle of the scanning imaging component. These angle data are crucial for determining the precise spatial position of the target. The position information of the scanning imaging component includes the geographic coordinates and altitude of the scanning imaging component. Because the attitude information and position information of the scanning imaging component and the positioning information of the target are obtained, the tracking device can successfully capture and lock the target with a greater probability, and then perform the target identification and tracking tasks.

[0011] Preferably, the scanning device comprises a scanning drive component; the scanning drive component comprises a load frame and a servo controller for controlling the movement of the load frame.

[0012] The payload frame is the physical basis of the scanning drive assembly, which enables the scanning imaging assembly to rotate left and right and up and down, so that the scanning imaging assembly can flexibly point to different directions. The servo controller is the control element of the scanning drive assembly. It receives instructions from the scanning device control module and automatically controls the payload frame movement according to these instructions, accurately controlling the azimuth (rotation left and right) and pitch (rotation up and down).

[0013] Preferably, the tracking device includes a main control component with a built-in programmable logic controller FPGA.

[0014] The main control component has a command function, which is implemented by a programmable logic controller FPGA. The programmable logic controller FPGA is a programmable chip that can perform complex tasks, such as processing images and converting signals. The main control component receives information sent by the scanning device, processes images received from infrared thermal imagers and other devices, performs image signal processing, and converts images, target positioning information, scanning device posture information, and its position information into optical signals, so that the information can be quickly transmitted through optical fibers. The main control component is also used to send instructions to control the various components of the tracking device to work together.

[0015] Preferably, the tracking device further comprises an image analysis component; the image analysis component acquires and analyzes the position coordinates of the target to generate an analysis result; the image analysis component sends the analysis result to the main control component to control the tracking imaging component to track the target.

[0016] The tracking function and principle of the image analysis component are prior art. The image analysis component analyzes the image sequence obtained from the visible light camera and the infrared thermal imager to determine the two-dimensional position coordinates of the target on each frame of the image. The image analysis component first calculates the pixel coordinates of the target within the camera's field of view. Then, the camera calibration method is used to determine the centerline and angular deviation (deflection) between the camera's optical axis (i.e., the centerline of the camera lens) and the target. Based on the calculated size and direction of the deflection displacement (i.e., the offset of the target relative to the camera's optical axis), the image analysis component will send the analysis results to the main control component, causing the main control component to issue a control command to rotate the tracking imaging component to keep the target within the field of view.

[0017] Preferably, the tracking device includes a tracking drive assembly; the tracking drive assembly includes a base and a pitch frame connected to the base; the base includes an azimuth axis and an azimuth motor for driving the movement of the azimuth axis; the pitch frame includes a pitch axis and a pitch axis motor for driving the movement of the pitch axis.

[0018] The function of the tracking drive assembly is to ensure that the tracking imaging assembly is accurately pointed and tracked under the command of the main control assembly. The base supports all the components of the tracking imaging assembly. The base includes an azimuth axis and an azimuth motor. The azimuth axis system allows the tracking imaging assembly to rotate in the horizontal direction, and the azimuth motor drives this rotation. The pitch frame is connected to the base, which can tilt the tracking imaging assembly up and down in the vertical direction. The pitch axis motor drives the pitch axis to complete the tilting action. When the optoelectronic device needs to track a target, the base and the pitch frame will work together according to the target's position information.

[0019] Preferably, the base includes an azimuth encoder for acquiring the azimuth axis angle in real time; the pitch frame includes a pitch encoder for acquiring the pitch axis angle in real time.

[0020] Real-time acquisition of azimuth and pitch axis angles is critical for stabilizing the platform and tracking system. Since the optoelectronic device is installed on a moving aircraft, the movement of the aircraft will affect the stability of the tracking device. Real-time acquisition of angle information can help the optoelectronic device compensate for these movements to stabilize the tracking device on the aircraft. Secondly, when performing measurements or observations, the collected data needs to be calibrated. Real-time angle information can help optoelectronic equipment calibrate data and improve the accuracy of measurements. The angle information of the azimuth and pitch axes provides feedback to the control system. With this feedback, the system can adjust itself to remain stable and precise.

[0021] Preferably, the tracking drive assembly includes a fiber optic gyroscope for measuring the angular velocity of the azimuth axis and the pitch axis.

[0022] The fiber optic gyroscope is a high-precision sensor that uses optical principles to measure the angular velocity of an object. It can sense the rotation of an object. The angular velocity of the azimuth and pitch axes is used to reflect the speed of the target movement tracked and identified by the tracking imaging component, so as to predict and quickly adjust the direction of the optoelectronic device to ensure that the target is always in the field of view. At the same time, the accurate measurement of angular velocity directly affects the control accuracy of the tracking drive component, and can help the optoelectronic device quickly respond to the movement changes of the target, thereby improving the response speed of the entire system.

[0023] An airborne optoelectronic search and tracking method, comprising: S1: the scanning imaging component searches for the target; S2: the scanning and positioning component acquires the positioning information of the target; S3: the scanning device sends the positioning information of the target to the tracking device; S4: The tracking imaging component identifies and tracks the target.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. In the present invention, because both the scanning device and the tracking device have independent imaging components, wide-area scanning and target tracking and identification can be performed without interfering with each other, so that the airborne optoelectronic device can perform one task without affecting the performance of another task, thus realizing multi-task parallel processing. The scanning device and the tracking device can work independently, which not only improves the combat capability of the equipment, but also enhances its adaptability and multi-task processing capability in complex environments.

[0025] 2. Due to the use of scanning inertial navigation components, it can provide the attitude and position information of the scanning imaging components, so the tracking device can quickly capture and stably lock the target with a higher success rate. This provides a solid foundation for subsequent target recognition and continuous tracking tasks, and improves the accuracy and efficiency of the entire process.

[0026] 3. Since the image analysis component can efficiently process the image sequences captured by the visible light camera and infrared thermal imager, accurately determine the two-dimensional position of the target in each frame of the image, and send detailed analysis results to the main control component, it greatly improves the accuracy and response speed of target tracking, enhances the system's ability to track targets, and improves the accuracy and reliability of operations.

[0027] 4. The use of azimuth encoders and pitch encoders can capture azimuth and pitch axis angle data in real time, so that the optoelectronic device can compensate for the movement of the base and pitch frame in time, thereby maintaining the stability of the tracking device. In addition, the azimuth encoder and pitch encoder help the optoelectronic device to perform necessary data calibration, thereby improving the accuracy of the measurement results and enabling the optoelectronic device to self-adjust based on these feedbacks. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a device framework diagram of airborne optoelectronic equipment; Figure 2 It is a schematic diagram of the airborne optoelectronic search and tracking method.

[0029] in: 1. Scanning device; 11. Scanning imaging component; 12. Scanning positioning component; 13. Scanning inertial navigation component; 14. Scanning drive component; 141. Load frame; 142. Servo controller; 2. Tracking device; 21. Tracking imaging component; 22. Main control component; 23. Image analysis component; 24. Tracking drive component; 241. Base; 242. Pitch frame; 243. Fiber optic gyroscope. DETAILED DESCRIPTION

[0030] In order to make the technical means, creative features, objectives and effects of the invention easier to understand, the invention is further described with reference to specific diagrams. However, the invention is not limited to the following implementation cases.

[0031] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportion or adjustment of size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical contents disclosed by the present invention.

[0032] Embodiment 1: like Figure 1 An airborne optoelectronic device shown includes a scanning device 1; the scanning device 1 includes a scanning imaging component 11 and a scanning positioning component 12 for obtaining target positioning information; it is characterized in that it also includes a tracking device 2; the tracking device 2 includes a tracking imaging component 21; the tracking imaging component 21 includes a visible light camera and an infrared thermal imager; after the scanning imaging component 11 finds the target, the scanning positioning component 12 sends the target positioning information to the tracking device 2, and the tracking imaging component 21 identifies and tracks the target according to the target positioning information.

[0033] The scanning imaging component 11 includes an infrared thermal imager and a laser rangefinder. The infrared thermal imager is composed of a thermal imaging lens and a thermal imaging core, and has the functions of non-uniform correction, polarity (black heat, white heat) control, brightness adjustment, contrast adjustment, and image enhancement adjustment, and is used to collect infrared images in the environment in real time. The laser rangefinder realizes the measurement of the relative distance between air and ground, and is used to realize the target positioning function.

[0034] The present invention takes into account both wide-area scanning and high-precision target tracking and identification capabilities. The scanning device 1 is mounted on the aircraft and is used to perform wide-area scanning by looking vertically downward to search for suspicious targets in the reconnaissance area. The tracking device 2 receives the threat target information discovered by the scanning device 1, and automatically points to the threat target position to track the threat target. Since the scanning device 1 and the tracking device 2 both have independently working imaging components, the scanning device 1 can perform other scanning tasks at the same time when the tracking device 2 is tracking. Wide-area scanning and target tracking and identification do not affect each other, which improves the application capability of the equipment.

[0035] Specifically, the scanning device 1 also includes a scanning inertial navigation component 13, which is used to obtain the attitude information and position information of the scanning imaging component 11; the attitude information includes the pitch angle, roll angle and heading angle information of the scanning imaging component 11. The scanning inertial navigation component 13 measures and outputs the position and attitude information of the scanning imaging component 11 at the current moment. When the scanning device 1 successfully captures the target, in order to ensure that the tracking device 2 can accurately lock and track the target, it is necessary not only to transmit the target positioning information obtained by the scanning positioning component 12, but also to provide detailed attitude information of the scanning imaging component 11. This includes information such as the pitch angle, roll angle and heading angle of the scanning imaging component 11, and these angle data are crucial for determining the precise spatial position of the target. The position information of the scanning imaging component 11 includes the geographic coordinates and altitude of the scanning imaging component 11. Because the attitude information and position information of the scanning imaging component 11 and the positioning information of the target are obtained, the tracking device 2 can successfully capture and lock the target with a greater probability, and then perform the target recognition and tracking tasks.

[0036] Specifically, the scanning device 1 includes a scanning drive component 14; the scanning drive component 14 includes a load frame 141 and a servo controller 142 for controlling the movement of the load frame 141. The load frame 141 is the physical basis of the scanning drive component 14, and can realize the left-right rotation and up-and-down rotation of the scanning imaging component 11, so that the scanning imaging component 11 can flexibly point to different directions. The servo controller 142 is the control element of the scanning drive component 14, which receives instructions from the control module of the scanning device 1, and automatically controls the movement of the load frame 141 according to these instructions, and accurately controls the azimuth (left-right rotation) and pitch angle (up-and-down rotation). The frame angle position encoder inside the scanning device 1 measures and outputs the frame angle position information of the scanning imaging component 11, and controls the rotation angle of the load frame 141 through the servo system to realize real-time dynamic search imaging of the target area and detection and positioning of the target. The load frame 141 includes a scanning roll frame and a scanning pitch frame. The scanning device 1 also includes a MEMS gyro module, which can measure the deflection angle values ​​of the scanning roll frame and the scanning pitch frame, and feed back the test values ​​to the servo controller 142 for stabilization control, so as to achieve the stability of the scanning device 1 relative to the inertial space.

[0037] The tracking device 2 includes a main control component 22 with a programmable logic controller FPGA built in. The main control component 22 has a command function and is implemented by a programmable logic controller FPGA. The programmable logic controller FPGA is a programmable chip that can perform complex tasks, such as processing images and converting signals. The main control component 22 receives information sent by the scanning device 1, processes images received from infrared thermal imagers and other devices, performs image signal processing, and converts images, target positioning information, attitude information of the scanning device 1, and its position information into optical signals, so that the information can be quickly transmitted through optical fibers. The main control component 22 is also used to send instructions to control the various components of the tracking device 2 to work together. The programmable logic controller FPGA performs ISP processing and electrical / optical conversion on the infrared thermal imager image, and converts the thermal imaging image, load position information, working status information, telemetry parameter information (position, attitude, FOV, etc.), aircraft platform navigation information (time, position, attitude, etc.) into optical signals for output. At the same time, the main control component 22 realizes the control function of the optical component, and the MCU control module, as a coprocessor, can receive external control instruction information to control the tracking device 2.

[0038] The tracking device 2 can observe the ground in real time, search and lock the target, and output the azimuth, pitch and distance information of the target object relative to the tracking device 2. After the tracking device 2 searches for the ground target, it locks the target object in the center of the field of view, outputs the azimuth and pitch angle of the visual axis relative to the inertial space, and the distance information of the target object relative to the tracking device 2, and receives the longitude, latitude, altitude and heading angle of the drone position data information transmitted by the drone platform through the communication interface. The tracking device 2 attitude data information (roll angle, pitch angle, yaw angle) provided by the inertial navigation module integrated in the tracking device 2 is transmitted to the main control component 22 of the tracking device 2, and the target positioning data result is solved and then transferred to the ground command and control system through the communication payload.

[0039] The tracking device 2 further includes an image analysis component 23; the image analysis component 23 acquires and analyzes the position coordinates of the target and generates an analysis result; the image analysis component 23 sends the analysis result to the main control component 22 to control the tracking imaging component 21 to track the target.

[0040] The tracking function and principle of the image analysis component 23 are prior art. The image analysis component 23 analyzes the image sequence obtained from the visible light camera and the infrared thermal imager to determine the two-dimensional position coordinates of the target on each frame of the image. The image analysis component 23 first calculates the pixel coordinates of the target within the camera's field of view. Then, the camera calibration method is used to determine the center line and angle deviation (deflection) between the camera optical axis (i.e., the center line of the camera lens) and the target. Based on the calculated size and direction of the deflection displacement (i.e., the offset of the target relative to the camera optical axis), the image analysis component 23 will send the analysis results to the main control component 22, so that the main control component 22 issues a control instruction to rotate the tracking imaging component 21 to keep the target within the field of view.

[0041] The tracking device 2 includes a tracking drive component 24; the tracking drive component 24 includes a base 241 and a pitch frame 242 connected to the base 241; the base 241 includes an azimuth axis and an azimuth motor for driving the movement of the azimuth axis; the pitch frame 242 includes a pitch axis and a pitch axis motor for driving the movement of the pitch axis. The function of the tracking drive component 24 is to ensure that the tracking imaging component 21 is accurately pointed and tracked under the command of the main control component 22. The base 241 supports all components of the tracking imaging component 21. The base 241 includes an azimuth axis and an azimuth motor. The azimuth axis system allows the tracking imaging component 21 to rotate in the horizontal direction, and the azimuth motor drives this rotation. The pitch frame 242 is connected to the base 241, and can make the tracking imaging component 21 tilt up and down in the vertical direction. The pitch axis motor drives the pitch axis to complete the tilting action. When the optoelectronic device needs to track a target, the base 241 and the pitch frame 242 will work together according to the position information of the target.

[0042] Specifically, the base 241 includes an azimuth encoder for acquiring the azimuth axis angle in real time; the pitch frame 242 includes a pitch encoder for acquiring the pitch axis angle in real time. Real-time acquisition of the azimuth axis angle and the pitch axis angle is crucial for stabilizing the platform and tracking system. Since the optoelectronic device is installed on a moving aircraft, the movement of the aircraft will affect the stability of the tracking device 2. Real-time acquisition of angle information can help the optoelectronic device compensate for these movements to stabilize the tracking device 2 on the aircraft. Secondly, when performing measurements or observations, the collected data needs to be calibrated. Real-time angle information can help the optoelectronic device calibrate the data and improve the accuracy of the measurement. The angle information of the azimuth axis and the pitch axis provides feedback to the control system. With this feedback, the system can adjust itself to remain stable and precise.

[0043] The tracking drive assembly 24 includes a fiber optic gyroscope 243 for measuring the angular velocity of the azimuth axis and the pitch axis. The fiber optic gyroscope 243 is a high-precision sensor that uses optical principles to measure the rotational angular velocity of an object, and it can sense the rotational motion of the object. The angular velocity of the azimuth axis and the pitch axis is measured to reflect the speed of movement of the target tracked and identified by the tracking imaging assembly 21, so as to predict and quickly adjust the direction of the optoelectronic device to ensure that the target is always in the field of view. At the same time, the accurate measurement of the angular velocity directly affects the control accuracy of the tracking drive assembly 24, and can help the optoelectronic device quickly respond to the movement changes of the target, thereby improving the response speed of the entire system.

[0044] On the other hand, Figure 2 As shown, the present invention provides an airborne optoelectronic search and tracking method, comprising: S1: Scanning imaging component 11 searches for a target; S2: The scanning and positioning component 12 obtains the positioning information of the target; S3: The scanning device 1 sends the positioning information of the target to the tracking device 2; S4: The tracking imaging component 21 identifies and tracks the target.

[0045] The scanning imaging component 11 is responsible for searching for targets in a wide area, which is achieved through sensors such as visible light cameras and infrared thermal imagers. The scanning positioning component 12 obtains the positioning information of the target. Once the target is detected, the scanning positioning component 12 immediately obtains the precise positioning information of the target, including the latitude and longitude, distance, etc. of the target. The acquired target positioning information is then transmitted to the tracking device 2 to ensure that the tracking device 2 can respond quickly and lock the target. The tracking imaging component 21 uses the received positioning information to further identify and continuously track the target to ensure that the target always remains within the monitoring range. This method can realize real-time tracking and precise identification of targets while realizing wide-area search or scanning of targets on the ground, improves the efficiency and accuracy of search and tracking, enhances the stability and response speed of optoelectronic equipment, and is suitable for military reconnaissance and strike missions.

Claims

1. An airborne optoelectronic device, comprising a scanning device (1); the scanning device (1) comprises a scanning imaging component (11) and a scanning positioning component (12) for obtaining target positioning information; characterized in that: It also comprises a tracking device (2); the tracking device (2) comprises a tracking imaging component (21); the tracking imaging component (21) comprises a visible light camera and an infrared thermal imager; after the scanning imaging component (11) finds the target, the scanning positioning component (12) sends the positioning information of the target to the tracking device (2), and the tracking imaging component (21) identifies and tracks the target according to the positioning information of the target.

2. The airborne optoelectronic device according to claim 1, characterized in that: The scanning device (1) further comprises a scanning inertial navigation component (13) for acquiring attitude information and position information of the scanning imaging component (11); the attitude information comprises pitch angle, roll angle and heading angle information of the scanning imaging component (11).

3. The airborne optoelectronic device according to claim 2, characterized in that: The scanning device (1) comprises a scanning drive component (14); the scanning drive component (14) comprises a load frame (141) and a servo controller (142) for controlling the movement of the load frame (141).

4. The airborne optoelectronic device according to claim 1, characterized in that: The tracking device (2) comprises a main control component (22) with a built-in programmable logic controller FPGA.

5. The airborne optoelectronic device according to claim 4, characterized in that: The tracking device (2) further comprises an image analysis component (23); the image analysis component (23) acquires and analyzes the position coordinates of the target to generate an analysis result; the image analysis component (23) sends the analysis result to the main control component (22) to control the tracking imaging component (21) to track the target.

6. The airborne optoelectronic device according to claim 4, characterized in that: The tracking device (2) comprises a tracking drive component (24); the tracking drive component (24) comprises a base (241) and a pitch frame (242) connected to the base (241); the base (241) comprises an azimuth axis and an azimuth motor for driving the azimuth axis to move; the pitch frame (242) comprises a pitch axis and a pitch axis motor for driving the pitch axis to move.

7. The airborne optoelectronic device according to claim 6, characterized in that: The base (241) comprises an azimuth encoder for acquiring the azimuth axis angle in real time; the pitch frame (242) comprises a pitch encoder for acquiring the pitch axis angle in real time.

8. The airborne optoelectronic device according to claim 7, characterized in that: The tracking drive component (24) comprises a fiber optic gyroscope (243) for measuring the angular velocities of the azimuth axis and the pitch axis.

9. An airborne optoelectronic device according to any one of claims 1 to 8, an airborne optoelectronic search and tracking method, characterized in that: Include: S1: the scanning imaging component (11) searches for the target; S2: the scanning and positioning component (12) acquires positioning information of the target; S3: the scanning device (1) sends the positioning information of the target to the tracking device (2); S4: the tracking imaging component (21) identifies and tracks the target.

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