A dynamic tracking precision evaluation method and device for an optoelectronic imaging system

Abstract

A kind of photoelectric imaging system dynamic tracking precision evaluation method and device.Belongs to photoelectric imaging equipment performance detection and verification technical field.Solve the current in the field of photoelectric imaging equipment dynamic tracking performance test, need under the condition of without complex optical system, the technical problem of the scheme of efficient, repeatable, low-cost test to the dynamic tracking performance of photoelectric imaging equipment.Use the concept of digital twinning, by directly injecting high-precision virtual target trajectory to servo control system, realize the laboratory verification of equipment closed-loop tracking performance.This method does not need real target or dynamic target generator, through the construction of "trajectory generation-signal injection-posture acquisition-precision evaluation", realize tracking performance test.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of performance detection and verification of photoelectric imaging equipment, and particularly relates to a photoelectric imaging system dynamic tracking precision evaluation method and device. BACKGROUND

[0002] Photoelectric imaging equipment is widely used in the fields of aviation, aerospace, ships, vehicles and ground observation, and is used for target search, capture, tracking and imaging. In order to ensure the stability and accuracy of photoelectric imaging equipment in task execution, tracking performance test is usually required at the stage of factory shipment, finalization or maintenance.

[0003] The existing tracking performance test methods mainly include the following three types:

[0004] Field ground test: test by tracking real targets such as unmanned aerial vehicles, kites or ground moving targets;

[0005] Dynamic target generator test: generate target signals by using a projector or a target generator, and project them to the imaging device detection surface through a collimating light path;

[0006] Field flight test: mount the imaging device on a flight platform and track the target for tracking verification.

[0007] The above methods have the following disadvantages:

[0008] The field test is limited by weather conditions, site environment and target availability, has high test cost and long test period, and cannot simulate the target overtop passing motion;

[0009] The laboratory test based on the target generator needs to configure a complex optical projection device, and the calibration process is time-consuming and laborious. Large or special structure photoelectric equipment cannot meet the optical coupling requirements;

[0010] The flight test has high cost, and the target trajectory is difficult to control accurately, resulting in poor repeatability of test data and difficulty in fully reflecting the device performance.

[0011] Therefore, in the field of dynamic tracking performance test of photoelectric imaging equipment, a technical scheme is needed to efficiently, repeatedly and low-cost test the dynamic tracking performance of photoelectric imaging equipment without complex optical systems. SUMMARY

[0012] In order to solve the above technical problems, the present application provides a photoelectric imaging system dynamic tracking precision evaluation method, which comprises the following steps:

[0013] S1, generating a virtual target space trajectory;

[0014] S2, converting the virtual target space trajectory into an encoder angle trajectory of the photoelectric imaging equipment;

[0015] S3, discretize the theoretical encoder trajectory and inject it into the servo control system to make the photoelectric imaging device track the virtual target trajectory;

[0016] S4, collect the actual encoder feedback angle value, calculate the root mean square deviation of azimuth and pitch angle as the dynamic tracking accuracy evaluation index.

[0017] Further, when generating a virtual target space trajectory, the coordinate system established is the body coordinate system :

[0018] Azimuth range: 0°-360°, clockwise rotation angle increases;

[0019] Pitch angle range: +10°-120°, 0° is horizontal, positive is upward;

[0020] When the frame angle is 0°, the line of sight points to the reference direction of the body coordinate system , wherein, The x-axis is along the initial line of sight positive direction, The y-axis is along the initial line of sight to the right, The z-axis is along the initial line of sight upward.

[0021] Further, when generating a virtual target space trajectory, the virtual target trajectory type includes a static target, a straight reciprocating uniform motion target, a circular motion target and a top-passing target.

[0022] Further, when it is a static target, the target in the body coordinate system is represented as: ;

[0023] The target does synchronous uniform reciprocating motion in the plane, the distance from the photoelectric imaging system to the target remains unchanged, assuming that the reciprocating length of the target in the axis is , the speed is ; the reciprocating length in the axis is , the speed is , and the initial position of the target is , then the trajectory equation at time is:

[0024] ;

[0025] ;

[0026] ;

[0027] The trajectory is repeated in a cycle to realize reciprocating motion, and if it is necessary to realize , Synchronous reciprocating motion in the same direction should satisfy: = ;

[0028] When the target is moving in a circular motion, the target moves along a path parallel to... The circular trajectory motion in the plane, with the center located at the coordinate... With the axis in a fixed position, the radius of the circular trajectory is... angular velocity is The initial phase is ,but The trajectory equation at time t is:

[0029] ;

[0030] ;

[0031] ;

[0032] initial phase Take zero or specify a fixed value;

[0033] When passing over a target, the target moves along the body coordinate system. The plane moves in a circular trajectory, with the optical center of the imaging system as the center and a radius of... And it transitions at a constant speed from a pitch angle of -80° to -100°, when the pitch angle When the critical position of overpass is reached, the azimuth angle Instantaneous switch from 0° to 180°; target in body coordinate system The rectangular coordinates are , , The corresponding encoder angle is the azimuth angle. and pitch angle The conversion relationship between rectangular coordinates and polar coordinates is as follows:

[0034] ;

[0035] ;

[0036] ;

[0037] in:

[0038] Jump between 0° and 180°;

[0039] It varies continuously with time t within the interval [-80° to -100°];

[0040] The target is equidistant from the optical center of the imaging system.

[0041] Further, when converting the virtual target space trajectory into the photoelectric imaging device encoder angle trajectory:

[0042] When the target is stationary:

[0043] The encoder angle calculation formula is:

[0044] ;

[0045] ;

[0046] When the target is a straight-line reciprocating uniform-speed motion target:

[0047] When , two-direction synchronous reciprocating motion, the function trajectory , and are substituted into the formula:

[0048] ;

[0049] ;

[0050] When the target is a circular motion target:

[0051] Substitute the circular motion trajectory function , and :

[0052] ;

[0053] ;

[0054] When the target is a top-passing target:

[0055] Substitute the top-passing trajectory function , and :

[0056] ;

[0057] ;

[0058] Where, when the pitch angle does not reach -90°, the azimuth angle is calculated according to the above formula;

[0059] When the pitch angle After crossing -90°, the azimuth angle jumps to 180° to ensure the continuity of the boresight tracking;

[0060] wherein the function represents the modulo operation, which is used to limit the azimuth angle to the range of 0°-360°; the pitch angle needs to be limited to the range of +10°- -120° according to the mechanical limit of the device.

[0061] Further, the step S3 is specifically: according to the output frequency of the tracker of the photoelectric imaging device discretize the theoretical encoder angle trajectory and to obtain a sequence of discrete sampling points:

[0062] ;

[0063] ;

[0064] wherein, is the sampling point number, and the sampling period is ;

[0065] the sequence of discrete sampling points is taken as a given signal, and is sequentially injected into the tracking closed-loop input interface of the servo control system according to the sampling period , and the servo control system generates a control quantity according to the deviation between the given signal and the feedback signal in the closed-loop control state, and drives the photoelectric imaging device to perform the pointing and tracking operation of the virtual target trajectory.

[0066] Further, the feedback encoder azimuth angle value and the pitch angle value output by the photoelectric imaging device in the virtual tracking process are collected, and are compared with and to calculate a deviation sequence:

[0067] ;

[0068] ;

[0069] the root mean square (RMS) value of the deviation of the azimuth angle and the pitch angle in the sampling interval is calculated:

[0070] ;

[0071] ;

[0072] wherein, is the total number of sampling points, The value represents the dynamic tracking accuracy of the photoelectric imaging device in the virtual target trajectory tracking process, and serves as a performance evaluation index.

[0073] The application also provides a photoelectric imaging system dynamic tracking accuracy evaluation device, which comprises:

[0074] A multi-modal target trajectory generation module generates a virtual target space trajectory;

[0075] An instruction injection and synchronization control module converts the virtual target space trajectory into an encoder angle trajectory of the photoelectric imaging device;

[0076] A high-precision angle measurement module discretizes the theoretical encoder trajectory and injects the same into a servo control system in a timed manner, so that the photoelectric imaging device performs tracking of the virtual target trajectory;

[0077] An intelligent evaluation module collects actual encoder feedback angle values, calculates the root mean square deviation of the azimuth angle and the pitch angle, and uses the same as a dynamic tracking accuracy evaluation index.

[0078] The method has the following beneficial effects: by using the digital twin concept, high-precision virtual target trajectories are directly injected into a servo control system, so that the closed-loop tracking performance of the device can be verified in a laboratory. The method does not require a real target or a dynamic target generator, and by constructing a closed-loop test framework of "trajectory generation-signal injection-pose acquisition-accuracy evaluation", tracking performance testing can be realized, including multi-modal target trajectory generation, instruction injection and synchronization control, high-precision pose measurement and intelligent evaluation. The method can realize repeatable and high-confidence performance verification in multiple motion modes, and is not limited by weather, site and optical projection conditions, and is suitable for tracking performance verification and fault diagnosis in complex motion scenarios. BRIEF DESCRIPTION OF DRAWINGS

[0079] Figure 1 FIG. 1 is a schematic diagram of the motion trajectory of a virtual target relative to an imaging system in an embodiment of the application. DETAILED DESCRIPTION

[0080] The technical solutions of the application will be described below in detail with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the application, rather than all the embodiments. Based on the embodiments of the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0081] Embodiment 1,

[0082] The embodiment provides a photoelectric imaging system dynamic tracking accuracy evaluation method, which realizes rapid evaluation of device tracking performance through virtual target generation and encoder signal injection, reduces cost and improves data repeatability. To achieve the above purpose, the following technical solutions are adopted.

[0083] Step 1: Multi-modal target trajectory generation

[0084] (1) Establish coordinate system: Assume that the azimuth angle range of the photoelectric imaging device is 0°-360°, and the clockwise rotation angle increases; the pitch angle range is generally +10°- -120°, with 0° being horizontal and positive being upward. When the frame angle of the photoelectric imaging system is 0°, the boresight direction is defined as the reference direction of the body coordinate system . Due to the characteristics of the imaging tracking system, only the azimuth angle and the pitch angle need to be adjusted to control the boresight pointing direction, and the target distance is usually fixed , and the motion trajectory is generated in the plane to accurately control the motion amplitude, speed, and frequency, and facilitate the evaluation of tracking performance.

[0085] wherein: the x-axis is along the initial boresight positive direction (far field); the y-axis is to the right; the z-axis is upward;

[0086] (2) Virtual target trajectory types: To test different tracking performance, virtual targets can be generated according to various motion trajectories, such as the generation mode shown in Figure 1 , including but not limited to the following four types:

[0087] (a) Stationary target: The virtual target remains stationary, which is used to test the tracking stability and accuracy of the photoelectric imaging system on a stationary target. The position of the target in the body coordinate system is represented as: ;

[0088] (b) Linear reciprocating uniform motion: The virtual target makes synchronous uniform reciprocating motion in the plane, and the distance from the photoelectric imaging system to the target remains unchanged. Assuming that the reciprocating length of the target in the axis is , and the speed is ; the reciprocating length in the axis is , and the speed is . The initial position of the target is , then the trajectory equation at time is:

[0089] ;

[0090] ;

[0091] ;

[0092] The trajectory is repeated in a loop to achieve reciprocating motion. If it is necessary to 、 directional synchronous reciprocating motion, should satisfy: = ;

[0093] (c) Circular motion: the virtual target moves along a circular trajectory parallel to the plane, with the center of the circle at a fixed position of the coordinate axis, the radius of the circular trajectory is , the angular velocity is , and the initial phase is , then the trajectory equation at time is:

[0094] ;

[0095] ;

[0096] ;

[0097] The initial phase can be zero or a specified fixed value. By adjusting , and the initial phase , circular motion with different amplitude and frequency characteristics can be achieved to evaluate the tracking performance of the system for different frequency motions.

[0098] (d) Overhead crossing: Overhead crossing refers to the situation where the target crosses from below the imaging system to the other side during tracking. To simulate this working condition, the virtual target needs to move along a circular trajectory in the plane of the body coordinate system, with the center of the trajectory at the optical center of the imaging system, the radius is , and it transitions from a pitch angle of -80° to -100° at a constant speed. To simplify modeling, the azimuth angle is initially set to 0°. When the pitch angle reaches -90° (overhead critical position), the azimuth angle instantaneously switches from 0° to 180° to ensure the continuity of the line of sight and maintain tracking.

[0099] Let the target's rectangular coordinates in the body coordinate system be , , , , and the corresponding encoder angles be the azimuth angle and the pitch angle , then the conversion relationship between the coordinates and the polar coordinates is:

[0100] ;

[0101] ​​ ;

[0102] ;

[0103] wherein:

[0104] Jump between 0° ~ 180°;

[0105] Continuous change in the interval [-80° ~ -100°] over time t;

[0106] Targeted equidistant radius from the optical center of the imaging system, unit: .

[0107] This trajectory is used to verify the servo control continuity and stability of the photoelectric imaging system in the over-the-top area.

[0108] Step 2: Virtual target coordinate conversion to encoder angle

[0109] (1) Stationary target:

[0110] The encoder angle calculation formula is:

[0111] ;

[0112] ;

[0113] (2) Linear reciprocating uniform motion:

[0114] When , Two-way synchronous reciprocating motion, the function trajectory , Substitute :

[0115] ;

[0116] ;

[0117] (3) Circular motion:

[0118] Substitute the circular motion trajectory function , And :

[0119] ;

[0120] ;

[0121] (4) Over-the-top:

[0122] Substitute the over-the-top trajectory function 、 With :

[0123] ;

[0124] ;

[0125] Wherein, when the pitch angle does not reach-90°, the azimuth angle is calculated according to the normal formula; when the pitch angle crosses-90°, the azimuth angle jumps to the vicinity of 180° to ensure the continuous tracking of the line-of-sight.

[0126] With respectively represent the azimuth and pitch encoder theoretical values corresponding to the motion trajectory, wherein the function: represents the modulo operation, which is used to limit the azimuth angle result in the range of 0°-360°; the pitch angle result needs to be amplitude-limited according to the mechanical limit of the device, so as to keep it in the allowable range of +10°-120° 。

[0127] Step 3: Discretization of encoder trajectory and timing injection

[0128] According to the output frequency of the photoelectric imaging device tracker Discretize the theoretical encoder angle trajectory With to obtain the discrete sampling point sequence:

[0129] ；

[0130] ；

[0131] Wherein, is the sampling point number, and the sampling period is .

[0132] The discretized angle sequence is taken as a given signal, which is sequentially injected into the tracking closed-loop input interface of the servo control system according to the sampling period The servo control system generates a control quantity according to the deviation between the given signal and the feedback signal in the closed-loop control state, and drives the photoelectric imaging device to perform pointing and tracking operations of the virtual target trajectory.

[0133] Step 4: Collecting deviation and calculating tracking accuracy

[0134] Collect the feedback encoder angle values output by the photoelectric imaging device during the virtual tracking process With Theoretical encoder angle value Compared with , the deviation sequence is calculated:

[0135] ;

[0136] ;

[0137] The root mean square (RMS) value of the deviation of the azimuth angle and the pitch angle is calculated in the sampling interval:

[0138] ;

[0139] ;

[0140] wherein, is the total number of sampling points. The value represents the dynamic tracking accuracy of the photoelectric imaging device in the virtual target trajectory tracking process, and can be used as a performance evaluation index.

[0141] Embodiment 2,

[0142] This embodiment is a further illustration of embodiment 1, and provides a photoelectric imaging system dynamic tracking accuracy evaluation device, which comprises a multi-modal target trajectory generation module: generating a virtual target space trajectory;

[0143] an instruction injection and synchronization control module: converting the virtual target space trajectory into an encoder angle trajectory of a photoelectric imaging device;

[0144] a high-precision angle measurement module: discretizing the theoretical encoder trajectory and timing injecting the servo control system, so that the photoelectric imaging device performs tracking of the virtual target trajectory;

[0145] an intelligent evaluation module: collecting actual encoder feedback angle values, calculating the root mean square deviation of the azimuth angle and the pitch angle, and taking them as dynamic tracking accuracy evaluation indexes. The working processes in each module are further introduced.

[0146] Multi-modal target trajectory generation module.

[0147] (1) Establish a coordinate system: azimuth angle range: 0°-360°, clockwise rotation angle increases; pitch angle range: +10°-120°, 0° is horizontal, positive is upward; when the frame angle is 0°, the line of sight points to the reference direction of the body coordinate system .

[0148] Coordinate system definition: axis: along the initial line of sight positive direction (far away); axis: to the right; axis: upward.

[0149] (2) Virtual target trajectory type:

[0150] To test different tracking performances, virtual targets can be generated according to various motion trajectories, such as... Figure 1 The generation methods shown include, but are not limited to, the following four categories:

[0151] (a) Stationary Target: The virtual target remains stationary to test the tracking stability and accuracy of the photoelectric imaging system for stationary targets. The target is positioned in the body coordinate system. The position in the middle is represented as: ;

[0152] (b) Reciprocating uniform motion in a straight line: The virtual target moves along... The photoelectric imaging system moves synchronously and uniformly back and forth within a plane; the distance from the target to the target is... Keep it unchanged. Assume the target is at... The reciprocating length of the shaft is The speed is ;exist The reciprocating length of the shaft is The speed is The initial position of the target is... ,but The trajectory equation at time t is:

[0153] ;

[0154] ;

[0155] ;

[0156] The trajectory repeats cyclically, achieving reciprocating motion. To achieve... , Synchronous reciprocating motion in the same direction should satisfy: = ;

[0157] Linear reciprocating motion can test the tracking performance of an imaging system for top-over flight targets. In optoelectronic imaging systems, top-over flight target tracking refers to the motion of a target rapidly passing beneath the imaging system in the pitch direction. If the pitch angle is close to ±90°, a singularity (gimbal lock) will occur in the mathematical definition of the azimuth angle. To maintain continuous pointing of the line of sight, the servo system will control the azimuth angle to jump 180° to avoid reversal. This condition presents challenges in high angular velocity changes and large pitch angle control, and is therefore an important indicator for evaluating dynamic tracking capabilities.

[0158] (c) Circular motion: The virtual target moves along a path parallel to... The circular trajectory motion in the plane, with the center located at the coordinate... Fixed position of the shaft , the circumferential trajectory with radius , the angular velocity is , the initial phase is , then the trajectory equation at time

[0159] ;

[0160] ;

[0161] ;

[0162] Initial phase Zero or a specified fixed value can be taken, by adjusting , and the initial phase is , the circular motion with different amplitude and frequency characteristics can be realized to evaluate the tracking performance of the system to different frequency spectrum motion.

[0163] (d) Overhead crossing: Overhead crossing refers to the motion of the target passing from below the photoelectric imaging system to the other side in the tracking process. To realize the simulation of this working condition, the virtual target needs to make a circular trajectory motion along the plane of the body coordinate system, and the trajectory takes the optical center of the imaging system as the center, with a radius of , and transitions from a pitch angle of -80° to -100° at a constant speed. To simplify modeling, the azimuth angle is initially set to 0°. When the pitch angle reaches -90° (overhead critical position), the azimuth angle instantaneously switches from 0° to 180° to ensure the continuity of the pointing direction and maintain tracking.

[0164] Let the target's rectangular coordinates in the body coordinate system be , , , the corresponding encoder angles be the azimuth angle and the pitch angle , then the conversion relationship between the coordinates and the polar coordinates is:

[0165] ;

[0166] ;

[0167] ;

[0168] Where:

[0169] Jump between 0° and 180°.

[0170] The time t is continuously changed in the interval [-80° ~ -100°];

[0171] The target is equidistant radius from the optical center of the imaging system, unit: .

[0172] The trajectory is used to verify the servo control continuity and stability of the photoelectric imaging system in the overtop area.

[0173] Instruction injection and synchronization control module.

[0174] (1) stationary target:

[0175] The encoder angle calculation formula is:

[0176] ;

[0177] ;

[0178] (2) straight reciprocating uniform motion:

[0179] When , two-way synchronous reciprocating motion, the function trajectory , and are substituted into the formula:

[0180] ;

[0181] ;

[0182] (3) circular motion:

[0183] Substitute the circular motion trajectory function , and :

[0184] ;

[0185] ;

[0186] (4) overtop crossing:

[0187] Substitute the overtop crossing trajectory function , and :

[0188] ;

[0189] ;

[0190] Wherein, when the pitch angle does not reach -90°, the azimuth angle is calculated according to the normal formula; when the pitch angle crosses -90°, the azimuth angle jumps to the vicinity of 180° to ensure the continuity of the line-of-sight tracking.

[0191] With respectively represent the azimuth and pitch encoder theoretical values corresponding to the motion trajectory, wherein the function is: The modulo operation is used to limit the azimuth angle result in the range of 0°-360°; the pitch angle result needs to be limited according to the mechanical limit of the device, so as to keep it within the allowed range of +10°-120° 。

[0192] High-precision angle measurement module.

[0193] According to the output frequency of the photoelectric imaging device tracker The theoretical encoder angle trajectory is discretized to obtain a discrete sampling point sequence:

[0194] ；

[0195] ；

[0196] Wherein, is the sampling point number, and the sampling period is .

[0197] The discretized angle sequence is taken as a given signal, which is injected into the tracking closed-loop input interface of the servo control system in turn according to the sampling period The servo control system generates a control quantity according to the deviation between the given signal and the feedback signal in the closed-loop control state, and drives the photoelectric imaging device to perform pointing and tracking operations of the virtual target trajectory.

[0198] Intelligent evaluation module.

[0199] The feedback encoder angle value output by the photoelectric imaging device in the virtual tracking process is collected and The theoretical encoder angle value and are compared to calculate the deviation sequence:

[0200] ;

[0201] ;

[0202] ​The root mean square (RMS) value of the deviation of the azimuth angle and the pitch angle is calculated in the sampling interval:

[0203] ;

[0204] ;

[0205] wherein, is the total number of sampling points. The value represents the dynamic tracking accuracy of the photoelectric imaging device in the virtual target trajectory tracking process, and can be used as a performance evaluation index.

Claims

1. A method for evaluating dynamic tracking accuracy of an electro-optical imaging system, characterized in that, The method comprises the following steps: S1, generating a virtual target space trajectory; When being a stationary target, the arbitrary position of the target in the body coordinate system is expressed as: ; When the target is in uniform rectilinear reciprocating motion, the target moves along a straight line in the plane at a constant speed, the distance between the photoelectric imaging system and the target remains unchanged, and the target is assumed to have a reciprocating length of on the x-axis and a reciprocating length of on the y-axis, and a speed of . When the target has an initial position of , the reciprocating length on the x-axis is , the speed is , and the initial position is , the trajectory equation at time is ； ； ； The trajectory repeats in a cycle to achieve reciprocating motion, if needed , The direction of the synchronous reciprocating motion should satisfy: = ; When the target is a circular motion target, the target moves along a circular trajectory parallel to the plane, with the center of the circle at a fixed position of the coordinate axis, the radius of the circular trajectory being , the angular velocity being , and the initial phase being , then the trajectory equation at time is ； ； ； initial phase Take zero or a specified fixed value; When the target is overtop passing, the target makes circular trajectory motion along the body coordinate system , the trajectory takes the imaging system optical center as the center, and the radius is , and it transits from the pitch angle -80° to -100° at a uniform speed, when the pitch angle reaches the overtop critical position, the azimuth angle instantaneously switches from 0° to 180°; the rectangular coordinates of the target in the body coordinate system are , , , the corresponding encoder angles are the azimuth angle and the pitch angle , and the conversion relationship between the rectangular coordinates and the polar coordinates is: ； ； ； Wherein: Jump between 0° and 180°; varies continuously in the interval [-80° - 100°] over time t; isometrical radius to the target and the optical center of the imaging system; S2, converting the virtual target space trajectory into an electro-optical imaging device encoder angle trajectory, specifically: When it is a static target: The encoder angle calculation formula is: ； ； When it is a straight-line reciprocating uniform motion target: When , Two direction synchronous reciprocating motion, the function trajectory , And Substitute the formula: ； ； When it is a circular motion target: Substituting the circular motion trajectory function , and : ； ； When it is a top-passing target: Substituting the over-the-top trajectory function , and : ； ； wherein, when the pitch angle the azimuth angle is calculated according to the above formula; When the pitch angle After crossing -90°, the azimuth angle jumps to 180° to ensure the continuous tracking of the boresight; where the function represents a modulo operation, used to restrict the azimuth angle result to the range 0°-360°; the elevation angle result needs to be clipped according to the mechanical limits of the device, so that it remains within the allowed range +10°- -120°; S3, discretizing the theoretical encoder trajectory and timing injection into the servo control system, so that the electro-optical imaging device executes the tracking of the virtual target trajectory; S4, collecting actual encoder feedback angle values, calculating the root mean square deviation of azimuth and elevation angles as dynamic tracking accuracy evaluation indexes.

2. The method of claim 1, wherein the method further comprises: When generating the virtual target space trajectory, the coordinate system established is the body coordinate system : Azimuth angle range: 0°-360°, clockwise rotation angle increases; Elevation angle range: +10°-120°, 0° is horizontal, positive is upward; When the frame angle is 0°, the line of sight points to the body coordinate system. The reference direction, among which, The axis is along the initial positive line of sight. The axis is to the right along the initial line of sight. The axis is upward along the initial line of sight.

3. The method of claim 2, wherein the method further comprises: When generating a virtual target space trajectory, the virtual target trajectory types include static targets, straight-line reciprocating uniform motion targets, circular motion targets and top-passing targets.

4. The electro-optical imaging system dynamic tracking accuracy evaluation method according to claim 3, wherein Step S3 is specifically: according to the output frequency of the photoelectric imaging device tracker to the theoretical encoder angle trajectory with discretization processing is performed to obtain a discrete sampling point sequence: ； ； wherein is the sample number, and the sampling period is ; The sequence of discrete sampling points is taken as a given signal, and a sampling period The tracking closed-loop input interface of the servo control system is sequentially injected, and the servo control system generates a control quantity according to the deviation between the given signal and the feedback signal in the closed-loop control state, and drives the photoelectric imaging device to perform pointing and tracking operations of the virtual target trajectory.

5. The electro-optical imaging system dynamic tracking accuracy evaluation method according to claim 4, wherein Step S4 is specifically: Collecting feedback encoder azimuth angle values output by an electro-optical imaging device during a virtual tracking process with pitch angle values with and to calculate a sequence of deviations: ； ； In the sampling interval, the root mean square (RMS) values of the azimuth angle and the elevation angle are calculated respectively: ； ； wherein, is the total number of sampling points, The value represents the dynamic tracking accuracy of the photoelectric imaging device in the virtual target trajectory tracking process, as a performance evaluation index.

6. A device for evaluating dynamic tracking accuracy of an electro-optical imaging system, characterized in that The device comprises: A multi-modal target trajectory generation module: generating a virtual target space trajectory; When the target is a stationary target, the arbitrary position of the target in the body coordinate system is expressed as: ; When the target is a straight reciprocating uniform motion, the target moves along a synchronous uniform reciprocating motion in the plane, the distance from the photoelectric imaging system to the target remains unchanged, assuming that the target reciprocates along the axis with a reciprocating length of and a speed of ; along the axis with a reciprocating length of and a speed of , and the initial position of the target is , then the trajectory equation at time is ； ； ； The trajectory repeats in a cycle to achieve reciprocating motion, if needed 、 The direction of synchronous reciprocating motion should meet: = ; When the target is a circular motion target, the target moves along a circular trajectory in a plane parallel to the axis, with the center of the circle at a fixed position of the coordinate axis, the radius of the circular trajectory being , the angular velocity being , and the initial phase being , then the trajectory equation at time is ； ； ； initial phase Take zero or a specified fixed value; When being a top-through target, the target makes a circular trajectory motion along the body coordinate system , the trajectory takes the imaging system optical center as the center, and the radius is , and it transitions from the pitch angle -80° to -100° at a uniform speed, when the pitch angle reaches the top-through critical position, the azimuth angle is switched from 0° to 180° instantaneously; the target in the body coordinate system is , , , the corresponding encoder angles are azimuth angle and pitch angle , and the conversion relationship between the rectangular coordinates and the polar coordinates is: ； ； ； Wherein: Jumps between 0° and 180° are made. varies continuously in the interval [-80° - 100°] over time t; isometric radius to the target and optical center of the imaging system; An instruction injection and synchronization control module: converting the virtual target space trajectory into an electro-optical imaging device encoder angle trajectory, specifically: When it is a static target: The encoder angle calculation formula is: ； ； When it is a straight-line reciprocating uniform motion target: When , Two direction synchronous reciprocating motion, the function trajectory , And Substitute the formula: ； ； When it is a circular motion target: Substituting the circular motion trajectory function , and : ； ； When it is a top-passing target: Substituting the over-the-top trajectory function , and : ； ； wherein, when the pitch angle the azimuth angle is calculated according to the above formula; When the pitch angle After crossing -90°, the azimuth angle jumps to 180° to ensure the continuous tracking of the boresight; where the function represents a modulo operation, used to restrict the azimuth angle result to the range 0°-360°; the elevation angle result needs to be clipped according to the mechanical limits of the device, so that it remains within the allowed range +10°- -120°; A high-precision angle measurement module: discretizing the theoretical encoder trajectory and timing injection into the servo control system, so that the electro-optical imaging device executes the tracking of the virtual target trajectory; An intelligent evaluation module: collecting actual encoder feedback angle values, calculating the root mean square deviation of azimuth and elevation angles as dynamic tracking accuracy evaluation indexes.

Images