Interactive guidance and tracking method based on optical remote control

Abstract

The present invention belongs to the field of photoelectric measurement technology, and in particular relates to an integrated optical remote sensing interactive guidance and tracking method. The method comprises: S1: making the observation axis directions of the second measuring station and the first measuring station the same; S2: inputting the azimuth angle increment and the pitch angle increment into the servo control motor, so that the second measuring station captures the target; S3: judging whether the second measuring station captures the target; S4: calculating the azimuth angle increment and the pitch angle increment of the second measuring station at the i+nth moment; S5: replacing the azimuth angle increment and the pitch angle increment with the azimuth angle increment and the pitch angle increment, and executing step S2; S6: the second measuring station uses the automatic tracking mode to track the target until the observation task is completed. The present invention gives a relatively stable guidance angle by weighting the integrated single-station optical remote sensing angle.

Description

Technical Field

[0001] The present invention belongs to the technical field of photoelectric measurement, and in particular relates to an optical-remote integrated interactive guidance and tracking method. Background Art

[0002] In recent years, optical measurement equipment (photoelectric theodolites) equipped with telemetry systems have become increasingly common in various maritime trials. Both optical measurement equipment and telemetry systems have their respective applications and limitations. For example, optical measurement equipment can directly image targets and track them with high accuracy, but is significantly affected by weather. Telemetry systems, on the other hand, have wide search and tracking beam angles but are more complex to process. A measurement system composed of optical measurement equipment and telemetry systems can fully leverage the technical advantages of both, achieving efficient guidance and coordinated tracking to cope with complex and changing weather conditions and diverse measurement tasks.

[0003] A common application scenario involves using telemetry systems to guide optical measurement equipment. However, telemetry systems do not always have a greater range than optical measurement equipment, and currently, there are few solutions for optical measurement equipment to guide telemetry systems. When an integrated optical telemetry station experiences unstable target tracking, the given guidance angle can also introduce significant jitter to the rotation of the other integrated optical telemetry station. Therefore, the integration of two measurement systems in an integrated optical telemetry system must go beyond the simple integration of two modules and must consider the requirements of interactive guidance and tracking in system design.

[0004] Integrated optical remote sensing measurement systems are interactive guidance and tracking systems. They face two major challenges in performing target acquisition and tracking tasks: First, interactive guidance and tracking between optical measurement equipment and telemetry systems at different stations. In particular, in the absence of distance information, guiding and tracking another station based on the angle information measured by a single station and rapidly acquiring the target remains a challenging task. Second, when a single station's tracking is unstable, determining a relatively stable guidance angle is crucial for achieving stable tracking at the other station. Existing integrated optical remote sensing measurement systems suffer from three major shortcomings: the one-way interactive guidance mechanism and insufficient tracking stability control, resulting in poor tracking efficiency and reliability in complex scenarios. Summary of the Invention

[0005] In view of this, the present invention aims to provide an integrated optical and remote interactive guidance and tracking method to solve the problems of the existing technology lacking interactive optimization design and insufficient tracking stability control. The present invention is used to realize real-time guidance of optical measurement to remote measurement between two stations and achieve stable tracking of the target.

[0006] To achieve the above object, the technical solution created by the present invention is implemented as follows:

[0007] A method for interactive guidance and tracking based on optical remote control, comprising the following steps:

[0008] S1: Use the first measuring station to observe the moving target and obtain the azimuth of the moving target at the first moment and pitch angle , adjust the initial observation axis of the second station so that the initial observation axis of the second station is parallel to the current observation axis of the first station, and the azimuth of the second station at the time of initial observation is and azimuth Equal, the pitch angle of the second station at the initial observation time and pitch angle equal;

[0009] S2: Calculate the azimuth increment of the second station at time i relative to the initial observation time using the following formula and pitch angle increment , increment the azimuth angle by and pitch angle increment Input to the servo control motor to enable the second measuring station to capture the moving target:

[0010] ;

[0011] in, is the azimuth angle obtained by the second measuring station observing the moving target at time i, is the pitch angle obtained by the second measuring station when observing the moving target at time i;

[0012] S3: If the second measuring station does not capture the moving target at the i-th moment, then the azimuth increment of the first measuring station at the i+1-th moment is obtained. and pitch angle increment , calculate the cumulative value of the rotation angle increment of the second measuring station at the i+nth moment, and execute step S4; otherwise, execute step S6;

[0013] S4: Calculate the azimuth increment of the second measuring station at time i+1 by the following formula and pitch angle increment :

[0014] ;

[0015] ;

[0016] in,( , , ) is the coordinate value of the point on the observation axis of the second station at the i+nth moment in the geodetic coordinate system, ( , , ) is the second station in the geodetic coordinate system The three-dimensional coordinates of Geodetic coordinate system The Y axis below, is the vector from the first station to the second station, is the distance from the first station to the second station, M is the rotation matrix, is the cumulative value of the rotation angle increment of the second measuring station at the i+nth moment;

[0017] S5: Using azimuth increments and pitch angle increment Replace azimuth increment and pitch angle increment , re-execute step S2 and increment the azimuth angle by and pitch angle increment The input is sent to the servo control motor, so that the second measuring station can recapture the moving target at the time i+1;

[0018] S6: The second measuring station automatically tracks the moving target until the mission is completed.

[0019] Furthermore, in step S3, the specific method for calculating the cumulative value of the rotation angle increment of the second measuring station at the i+nth moment is:

[0020] A1: At this moment, if the azimuth increment of the first station , the moving target is moving in a direction away from the second measuring station, and step A2 is executed; otherwise, the moving target is moving in the direction of the second measuring station, and step A4 is executed:

[0021] A2: If , then the second measuring station is on the plane Rotation angle of the observation axis inward toward the first measuring station , is the moving target position, is the first measuring station position, If it is the second measuring station position, execute step A6; otherwise, execute step A3;

[0022] A3: If , then the observation axis of the second station is in the plane Rotation angle of the observation axis inward toward the first measuring station , proceed to step A6;

[0023] A4: If , then the observation axis of the second station is in the plane Rotation angle of the observation axis inward toward the first measuring station , go to step A6, otherwise go to step A5;

[0024] A5: If , then the observation axis of the second station is in the plane Rotation angle of the observation axis inward toward the first measuring station ;

[0025] A6: At this moment, make the observation axis of the first station parallel to the current observation axis of the second station, and obtain the Azimuth increment at time , using the azimuth increment Alternative azimuth increment Repeat steps A1-A5 until the observation axis of the second measuring station at time i+n is in the plane The rotation angle of the observation axis inward toward the first measuring station;

[0026] A7: The observation axis of the second measuring station at each moment calculated based on step A6 is in the plane The rotation angle of the observation axis inward to the first measuring station is used to calculate the cumulative value of the rotation angle increment at the second measuring station at the i+nth time. .

[0027] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0028] (1) The present invention creates the optical-remote integrated interactive guidance and tracking method, which integrates the technical advantages of optical measurement and remote measurement, proposes a method of using optical measurement to guide remote measurement to search and track the target, and weights the optical remote measurement angle of a single station to represent the guidance angle. This can effectively achieve two-station collaborative interactive guidance and stable tracking, solve the difficult problem of cross-device collaborative tracking of the optical-remote integrated measurement system, and is simple in calculation and easy to apply in practice.

[0029] (2) The present invention creates the optical-remote integrated interactive guidance and tracking method, which integrates the technical advantages of optical measurement and telemetry, supplements the optical measurement guidance and telemetry follow-up search and tracking method into the optical-remote integrated measurement system of the two stations, and optimizes the system control. It can well realize the real-time guidance and collaborative capture, tracking and measurement of optical measurement to telemetry between the two stations, effectively realize the collaborative interactive guidance and stable tracking of the two measurement stations, and provide an effective basis for subsequent target type recognition, posture measurement, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0031] Figure 1 A flow chart of the optical remote control integrated interactive guidance and tracking method according to an embodiment of the present invention;

[0032] Figure 2This is a schematic diagram of the principle of optically guided telemetry target capture described in an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention.

[0034] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0035] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, features defined as "first", "second" and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0036] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art can understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0037] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0038] like Figure 1 As shown, the present invention proposes an integrated optical remote control interactive guidance and tracking method, which specifically includes the following steps when the moving target moves slowly relative to the first measuring station, that is, the observation axis of the first measuring station remains basically unchanged:

[0039] S1: Use the first measuring station to observe the moving target and obtain the azimuth of the moving target at the first moment and pitch angle , adjust the initial observation axis of the second station so that the initial observation axis of the second station is parallel to the current observation axis of the first station, and the azimuth of the second station at the time of initial observation is and azimuth Equal, the pitch angle of the second station at the initial observation time and pitch angle equal;

[0040] S2: Calculate the azimuth increment of the second station at time i relative to the initial observation time using the following formula and pitch angle increment , increment the azimuth angle by and pitch angle increment Input to the servo control motor to enable the second measuring station to capture the moving target:

[0041] ;

[0042] in, is the azimuth angle obtained by the second measuring station observing the moving target at time i, is the pitch angle obtained by the second measuring station when observing the moving target at time i;

[0043] S3: If the second measuring station does not capture the moving target at the i-th moment, then the azimuth increment of the first measuring station at the i+1-th moment is obtained. and pitch angle increment , calculate the cumulative value of the rotation angle increment of the second measuring station at the i+nth moment, and execute step S4; otherwise, execute step S6;

[0044] S4: Calculate the azimuth increment of the second measuring station at time i+1 by the following formula and pitch angle increment :

[0045] ;

[0046] ;

[0047] in,( , , ) is the coordinate value of the point on the observation axis of the second station at the i+nth moment in the geodetic coordinate system, ( , , ) is the second station in the geodetic coordinate system The three-dimensional coordinates of Geodetic coordinate system The Y axis below, is the vector from the first station to the second station, is the distance from the first station to the second station, M is the rotation matrix, is the cumulative value of the rotation angle increment of the second measuring station at the i+nth moment;

[0048] S5: Using azimuth increments and pitch angle increment Replace azimuth increment and pitch angle increment , re-execute step S2 and increment the azimuth angle by and pitch angle increment The input is sent to the servo control motor, so that the second measuring station can recapture the moving target at the time i+1;

[0049] S6: The second measuring station automatically tracks the moving target until the mission is completed.

[0050] The integrated optical and remote photoelectric theodolite integrates both the optical measurement module and the telemetry module. The telemetry link solution adopts the mature telemetry technology system of missiles, rockets and other aircraft, and achieves full process compatibility with the existing telemetry system of the target range.

[0051] The line of sight of the optical measuring device is coaxial with the electrical axis of the telemetry beam of the telemetry system, which facilitates the calculation of adjusting the observation direction of the guided measuring station to a given azimuth and elevation angle, and is used for interactive guidance and collaborative capture and tracking of the optical measuring device and the telemetry system.

[0052] Each survey station is equipped with an integrated optical and telemetry photoelectric theodolite. Between two survey stations, the optical measurement module of the current survey station is used to guide the optical measurement module or telemetry module of the other survey station to achieve follow-up search and tracking. The real-time azimuth, real-time pitch angle, field of view angle measured by the optical measurement module of the current survey station and the geographic coordinates of the two survey stations are used to complete the guidance and control of the optical measurement module or telemetry module of the other survey station through spatial geometry and asymptotic rotation angle calculations.

[0053] The asymptotic rotation angle is based on the moving target and the two measuring stations in the plane. The size of the asymptotic rotation angle is determined according to the azimuth angle increment of the first measuring station. After the asymptotic rotation angle, a point on the observation axis of the second measuring station is obtained and then converted into the azimuth and pitch angles in the spherical coordinate system with the second measuring station as the origin to give the azimuth and pitch angle increments for servo control.

[0054] Under a single tracking station, the optical and telemetry angles are weighted to represent the guidance angle. Considering that the optical module has high tracking accuracy but a small field of view, and the telemetry module has a large equivalent field of view but lower angle measurement accuracy than the optical module, the weight of the optical module can be set much higher than that of the telemetry module. This ensures that the guidance angle is mainly composed of the optical angle when the optical tracking is stable. When the optical module jitters greatly or even loses the moving target, the guidance angle is supplemented by the telemetry angle.

[0055] The specific principles of the optical measurement module guiding the telemetry module's follow-up search and tracking method are as follows:

[0056] Based on the relative positions of the measuring stations and moving targets, during the capture and tracking of a moving target, the optical measurement module of one measuring station may capture the moving target first. In this case, the optical remote control photoelectric theodolite of the other measuring station can be guided by the optical measurement module itself, or by the optical measurement module itself guiding the telemetry module. The telemetry module has a wide detection range and a large equivalent field of view. The following describes the real-time guidance method of the optical measurement module:

[0057] like Figure 2 As shown, for moving targets , assuming that a certain station captures the moving target first (here it is agreed to be the first station, ), at this time, the azimuth of the moving target relative to the first measuring station can be obtained and pitch angle , for another station (the second station, ) is used for follow-up capture and is first set to have the same observation axis (parallel) as the first measuring station, that is, , , meaning the initial observation axis of the second station is completely aligned (parallel) with the current observation axis of the first station. Although the servo control of the second station has some response time to the guidance angle synchronization of the first station, this can still be achieved.

[0058] In the plane formed by the moving target and the two measuring stations The observation axis of the second station is in the plane The observation axis of the first measuring station sweeps a certain angle inward , the two observation axes can intersect at one point. Since a single measuring station cannot directly measure the distance of a moving target, it is impossible to directly determine , a step-by-step approach to search is required to control the observation axis of the second station.

[0059] In some embodiments, in step S3, the specific method for calculating the cumulative value of the rotation angle increment of the second measuring station at the i+nth time is:

[0060] A1: At this moment, if the azimuth increment of the first station , the moving target is moving in a direction away from the second measuring station, and step A2 is executed; otherwise, the moving target is moving in the direction of the second measuring station, and step A4 is executed:

[0061] A2: If , then the second measuring station is on the plane Rotation angle of the observation axis inward toward the first measuring station , is the moving target position, is the first measuring station position, If it is the second measuring station position, execute step A6; otherwise, execute step A3;

[0062] A3: If , then the observation axis of the second station is in the plane Rotation angle of the observation axis inward toward the first measuring station , proceed to step A6;

[0063] A4: If , then the observation axis of the second station is in the plane Rotation angle of the observation axis inward toward the first measuring station , go to step A6, otherwise go to step A5;

[0064] A5: If , then the observation axis of the second station is in the plane Rotation angle of the observation axis inward toward the first measuring station ;

[0065] A6: At this moment, make the observation axis of the first station parallel to the current observation axis of the second station, and obtain the Azimuth increment at time , using the azimuth increment Alternative azimuth increment Repeat steps A1-A5 until the observation axis of the second measuring station at time i+n is in the plane The rotation angle of the observation axis inward toward the first measuring station;

[0066] A7: The observation axis of the second measuring station at each moment calculated based on step A6 is in the plane The rotation angle of the observation axis inward to the first measuring station is used to calculate the cumulative value of the rotation angle increment at the second measuring station at the i+nth time. .

[0067] It should be noted that when it is necessary to obtain the azimuth increment of the second measuring station at the i+1th moment and pitch angle increment , there is no need to execute steps S6-S8.

[0068] Furthermore, the speed of the moving target relative to the first measuring station can be decomposed into radial speed and tangential speed. The first measuring station can respond to the tangential speed when tracking the moving target. This value is generally small. For example, for a moving target moving at 3 times the speed of sound relative to the first measuring station, at a distance of 10 km, if the angular change of the moving target in 1 second is only , then the angular variation can be treated as a small amount. The field of view of the optical sensor module is , the equivalent field of view of the telemetry module is , and assuming .exist moment, if , it indicates that the moving target is moving in the direction away from the second measuring station. , the second measuring station is on the plane Rotation angle of the observation axis inward toward the first measuring station ;like , then the second measuring station is on the plane Rotation angle of the observation axis inward toward the first measuring station ;if , it indicates that the moving target is moving toward the second measuring station. If , then the second measuring station is on the plane Rotation angle of the observation axis inward toward the first measuring station ;like , then the second measuring station is on the plane Rotation angle of the observation axis inward toward the first measuring station At the next moment, the observation axis of the first measuring station rotates a small angle with the movement of the moving target, ensuring that the basic value of the observation axis of the second measuring station (the component of the direction parallel to the observation axis of the second measuring station and the observation axis of the first measuring station) is the same as that of the first measuring station, that is, ensuring The three points are coplanar. Based on the above rotation angle increment rule, the rotation angle increment at that moment is determined to obtain the cumulative rotation angle. Calculate the follow-up The cumulative value of the rotation angle increment at the moment , and substitute it into the formula to solve the azimuth increment of the second measuring station at the i+1th moment and pitch angle increment , until the second station captures the moving target. It should be noted that It needs to be converted into the azimuth increment and pitch angle increment of the second measuring station in order to drive the servo control to rotate the observation axis of the optical measurement module, that is, to convert and .

[0069] The specific principles of the azimuth angle increment and elevation angle increment solution are as follows:

[0070] In the geodetic coordinate system In the following example, the positions of the moving target and the two measuring stations are , , , to get a plane Internal rotation angle , the coordinate system can be Translation and rotation to coordinate system Bottom: The translation amount is ; Direction Direction, that is, the geodetic coordinate system Around Axis rotation clockwise Angle; then the geodetic coordinate system Around Clockwise rotation For the convenience of analysis, we assume ,but and The angle is solved as follows:

[0071] ;

[0072] in, is the initial pitch angle of the first measuring station.

[0073] so, In the system, plane Rotate the observation axis of the second station around the plane perpendicular to the The angle of normal rotation is , using the point on the observation axis of the second station Calculate a point on the observation axis of the second station exist The coordinates of the system are:

[0074] ;

[0075] in, The physical meaning is that the vector around the axis is Rotation The rotation matrix of the angle, for or , without loss of generality, use represents the axis vector, Represents the rotation angle, which is in the following form:

[0076]

[0077] From this, the azimuth increment of the second measuring station can be solved and pitch angle increment for:

[0078] ;

[0079] Wherein, E2 is the initial pitch angle after the observation axis of the second measuring station is synchronized with the observation axis of the first measuring station (i.e., E2 = E1).

[0080] The optical remote control integrated interactive guidance and tracking method created by the present invention specifically includes the following steps:

[0081] Step 1: Input the real-time azimuth, real-time elevation and real-time field of view of the first measuring station respectively. 、 and , and set the real-time azimuth of the second measuring station , real-time pitch angle The corresponding position is the real-time azimuth and real-time pitch angle , set the field of view of the optical measurement module to , set the telemetry module's field of view to .

[0082] Calculate the azimuth angle increment and pitch angle increment of the second measuring station at time i relative to the initial observation time and transmit them to the servo control motor. The azimuth angle increment and pitch angle increment are:

[0083] ;

[0084] If the field of view of the second measuring station just captures the moving target, the system enters the automatic tracking mode. Otherwise, it performs iterative calculations according to the optical measurement module guiding the telemetry module to follow the search and tracking method.

[0085] Step 2: During the follow-up search process, the telemetry module of the second station increments the azimuth angle of the first station. and pitch angle increment Determine whether the moving target is moving away from or approaching the second measuring station, and increment the azimuth of the second measuring station. and pitch angle increment The basic value of is the same as that of the first measuring station to ensure that the moving target and the observation axes of the two measuring stations are coplanar. The rotation angle increment at the i+nth moment is determined based on the rotation angle increment rule. , and calculate the cumulative rotation angle increment ;

[0086] Step 3: Calculate the azimuth increment of the second measuring station at time i+n and pitch angle increment , that is, calculate:

[0087] ;

[0088] in, Obtained by the following formula:

[0089] ;

[0090] Where, A three-dimensional rotation matrix for rotating around an axis vector.

[0091] Step 4: Increment the azimuth and pitch angle increment The signal is transmitted to the servo control motor until the field of view of the second measuring station captures the moving target. The system then enters the single-station automatic tracking mode, and the single-station optical telemetry angle is weighted to give a relatively stable guidance angle.

[0092] Furthermore, the above method is for the case where the moving target moves slowly relative to the first measuring station, that is, the observation axis of the first measuring station remains basically unchanged. For the case where the moving target moves quickly relative to the first measuring station, such as a target moving at a high speed of more than 4 times the speed of sound, within a limited time, due to the target movement, the first measuring station is tracking the moving target in real time, which will cause the azimuth and elevation angles of the first measuring station to change significantly. In this case, a method for obtaining a more accurate real-time azimuth and elevation angle increment based on the angular change introduced by the first measuring station rotating with the moving target is as follows: Find the observation axis and the observation axis of the second station at all times Real-time angle of the axis , calculate the cumulative rotation angle increment and real-time angle The difference as , recalculate the real-time cumulative rotation angle increment After the coordinates are transformed back to the azimuth and elevation angles in the spherical coordinate system of the second measuring station, the difference between this angle and the real-time azimuth and real-time elevation angles of the second measuring station is the real-time azimuth increment. and real-time pitch angle increments .

[0093] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved. This is not limited herein.

[0094] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for interactive guidance and tracking based on optical remote control, characterized by: The specific steps include: S1: Use the first measuring station to observe the moving target and obtain the azimuth of the moving target at the first moment and pitch angle , adjust the initial observation axis of the second measuring station so that the initial observation axis of the second measuring station is parallel to the current observation axis of the first measuring station, and the azimuth of the second measuring station at the time of initial observation is and azimuth The second station's elevation angle at the initial observation time is equal to and pitch angle equal; S2: Calculate the azimuth increment of the second station at time i relative to the initial observation time using the following formula and pitch angle increment , increment the azimuth angle by and pitch angle increment Input to the servo control motor to enable the second measuring station to capture the moving target: ； in, is the azimuth angle obtained by the second measuring station observing the moving target at time i, is the pitch angle obtained by the second measuring station when observing the moving target at time i; S3: If the second measuring station does not capture the moving target at the i-th moment, then the azimuth increment of the first measuring station at the i+1-th moment is obtained. and pitch angle increment , calculate the cumulative value of the rotation angle increment of the second measuring station at the i+nth moment, and execute step S4; otherwise, execute step S6; S4: Calculate the azimuth increment of the second measuring station at time i+1 by the following formula and pitch angle increment : ； ； in,( , , ) is the coordinate value of the point on the observation axis of the second station at the i+nth moment in the geodetic coordinate system, ( , , ) is the second station in the geodetic coordinate system The three-dimensional coordinates of Geodetic coordinate system The Y axis below, is the vector from the first station to the second station, is the distance from the first station to the second station, M is the rotation matrix, is the cumulative value of the rotation angle increment of the second measuring station at the i+nth moment; S5: Using azimuth increments and pitch angle increment Replace azimuth increment and pitch angle increment , re-execute step S2 and increment the azimuth angle by and pitch angle increment The input is sent to the servo control motor, so that the second measuring station can recapture the moving target at the time i+1; S6: The second measuring station automatically tracks the moving target until the mission is completed.

2. The optical remote control interactive guidance and tracking method according to claim 1, characterized in that: In step S3, the specific method for calculating the cumulative value of the rotation angle increment of the second measuring station at the i+nth time is: A1: At this moment, if the azimuth increment of the first station , the moving target is moving in a direction away from the second measuring station, and step A2 is executed; otherwise, the moving target is moving in the direction of the second measuring station, and step A4 is executed: A2: If , then the second measuring station is on the plane Rotation angle of the observation axis inward toward the first measuring station , is the moving target position, is the first measuring station position, If it is the second measuring station position, execute step A6; otherwise, execute step A3; A3: If , then the observation axis of the second station is in the plane Rotation angle of the observation axis inward toward the first measuring station , proceed to step A6; A4: If , then the observation axis of the second station is in the plane Rotation angle of the observation axis inward toward the first measuring station , go to step A6, otherwise go to step A5; A5: If , then the observation axis of the second station is in the plane Rotation angle of the observation axis inward toward the first measuring station ; A6: At this moment, make the observation axis of the first station parallel to the current observation axis of the second station, and obtain the Azimuth increment at time , using the azimuth increment Alternative azimuth increment Repeat steps A1-A5 until the observation axis of the second measuring station at time i+n is in the plane The rotation angle of the observation axis inward toward the first measuring station; A7: The observation axis of the second measuring station at each moment calculated based on step A6 is in the plane The rotation angle of the observation axis inward to the first measuring station is used to calculate the cumulative value of the rotation angle increment at the second measuring station at the i+nth time. .

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