A complex image rotation fast solving method and system for an optoelectronic tracking and sighting system

Abstract

The present application relates to a kind of complex image spin fast solving method and system for photoelectric tracking and collimating system, in view of the problems that existing image spin solving method relies on complex modeling, error term is many, engineering design is difficult, this method introduces 45 ° mirror structure in equivalent geometry, complex light path is mapped as single optical axis model, so that azimuth axis and pitch axis are coaxial in imaging coordinate system, to build simplified initial image spin solving model.The image spin angle can be expressed as the combination of azimuth angle and pitch angle, and the initial phase angle is added.Further, by applying small angle deflection to the fast mirror, the response relationship of the imaging miss distance in the image coordinate system is obtained, and the mapping curve between the axes of the fast mirror and the components of the miss distance is established. The initial phase angle is calibrated and compensated by taking the decoupling state as the criterion, and finally the high-precision image spin angle is obtained. This method does not require accurate modeling of optical path parameters, and the solving process is simple and fast.

Description

Technical Field

[0001] This invention relates to the field of photoelectric tracking and aiming systems, and in particular to a method and system for rapid calculation of complex image rotations for photoelectric tracking and aiming systems. Background Technology

[0002] Electro-optical tracking systems are widely used in target detection, tracking, and pointing scenarios, and typically consist of an electro-optical imaging unit, a dual-axis servo turntable, and a multi-stage reflective optical path. During operation, the rotation of the turntable around the azimuth and pitch axes causes a rotational change in the imaging coordinate system relative to the external spatial coordinate system, resulting in image rotation. The presence of image rotation affects the interpretation of the target's orientation and the calculation of its geometric relationships in the image, and is one of the fundamental problems that needs to be addressed in electro-optical tracking systems.

[0003] Existing image rotation calculation methods are mostly based on geometric modeling of the optical path structure and turntable attitude, calculating the image rotation angle by establishing an analytical or numerical model between the turntable angle and the imaging rotation. However, in practical engineering applications, photoelectric tracking systems typically include multi-stage reflective elements, common or quasi-common aperture optical paths, and fast-reflecting mirrors, resulting in complex optical path structures. Furthermore, installation errors, adjustment deviations, and structural deformations inevitably exist between the various optical components, leading to discrepancies between the actual imaging state of the system and the theoretical model.

[0004] Under the aforementioned conditions, the modeling process for image rotation is not only computationally complex and involves numerous parameters, but also struggles to comprehensively cover all sources of error. Even with a relatively complete theoretical model established, calibration is still required to correct the model in engineering applications to achieve the accuracy requirements for practical use. This type of method often suffers from problems such as a large workload in modeling, long debugging cycles, and insufficient engineering adaptability.

[0005] Furthermore, in an optoelectronic tracking system that includes a fast-reflecting mirror, the introduction of the fast-reflecting mirror further alters the optical axis pointing relationship, making the mapping relationship between the imaging coordinate system and the turntable attitude more complex. Traditional image rotation calculation methods based solely on the turntable angle are difficult to apply directly, increasing the difficulty of image rotation calculation and correction in the system.

[0006] Therefore, there is an urgent need for a method that can avoid tedious and detailed modeling under complex optical path conditions and can quickly obtain high-precision image rotation angles through engineering calibration, so as to improve the engineering implementation efficiency and reliability of photoelectric tracking systems. Summary of the Invention

[0007] This invention provides a method and system for rapid calculation of complex image rotation for photoelectric tracking systems, in order to solve the problems mentioned in the background art.

[0008] In a first aspect, the present invention provides a method for rapid calculation of complex image rotation for an optoelectronic tracking system, comprising: Introducing a mirror structure in an equivalent geometric sense maps the complex optical path into a single optical axis model, making the azimuth axis and elevation axis equivalently coaxial in the imaging coordinate system, thereby constructing a simplified initial image rotation solution model. By applying a small-angle deflection to the fast-reflecting mirror, the response relationship of the imaging miss amount in the image coordinate system is obtained, and the mapping curve between each axis of the fast-reflecting mirror and each component of the miss amount is established. The initial phase angle is calibrated and compensated using the decoupling state as a criterion, and finally a high-precision image rotation angle is obtained. The image rotation angle is represented by the sum of the algebraic numbers of azimuth and elevation angles and the initial phase angle.

[0009] Furthermore, the introduction of a mirror structure in an equivalent geometric sense to map the complex optical path into a single optical axis model, making the azimuth axis and elevation axis equivalently coaxial in the imaging coordinate system, includes: By introducing a reflection structure into the system's optical path, the complex optical path containing multiple levels of reflection is geometrically equivalent to a single optical axis model, making the azimuth axis and pitch axis of the dual-axis servo turntable coaxial in the imaging coordinate system.

[0010] Furthermore, the method also includes: Based on the equivalent optical path model, an initial image rotation solution relationship is established, and the image rotation angle is expressed as an algebraic combination of the turntable azimuth angle and the elevation angle. An initial phase angle is introduced to characterize the system assembly error and the fixed optical path offset.

[0011] Furthermore, the step of obtaining the response relationship of the imaging miss distance in the image coordinate system by applying a small-angle deflection to the fast-reflecting mirror and establishing the mapping curves between each axis of the fast-reflecting mirror and each component of the miss distance includes: With the turntable attitude remaining unchanged, a predetermined small-angle deflection is applied to the fast-reflection mirror to obtain the change response of the imaging miss amount in the image coordinate system. Based on the correspondence between the deflection of each axis of the fast-reflecting mirror and the components of the miss distance, a mapping curve between the axis of the fast-reflecting mirror and the miss distance of the imaging is established to characterize the rotational coupling relationship of the system imaging.

[0012] Furthermore, the step of using the decoupling state as a criterion to calibrate and compensate the initial phase angle to ultimately obtain a high-precision image rotation angle includes: Based on the decoupling state of the mapping curve, the initial phase angle is compensated and corrected to obtain the true initial image rotation angle of the system. Combined with the initial image rotation model, the image rotation angle is quickly calculated.

[0013] Secondly, the present invention provides a rapid image rotation calculation system for an optoelectronic tracking system, comprising: The optical path equivalent module is used to introduce a mirror structure in an equivalent geometric sense, map the complex optical path into a single optical axis model, and make the azimuth axis and elevation axis equivalently coaxial in the imaging coordinate system, thereby constructing a simplified initial image rotation solution model. The relationship establishment module is used to obtain the response relationship of the imaging miss amount in the image coordinate system by applying a small angle deflection to the fast-reflecting mirror, and to establish the mapping curve between each axis of the fast-reflecting mirror and each component of the miss amount. The image rotation calculation module is used to calibrate and compensate the initial phase angle using the decoupling state as a criterion, and finally obtain a high-precision image rotation angle, which is represented by the algebraic array of azimuth and elevation angles superimposed on the initial phase angle.

[0014] Thirdly, the present invention provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the complex image rotation fast calculation method for the photoelectric tracking system described above.

[0015] Fourthly, the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method for rapid calculation of complex image rotation for an optoelectronic tracking system as described above.

[0016] The above-described technical solution of the present invention has the following advantages: The first aspect of this invention provides a method for rapid image rotation calculation in an optoelectronic tracking system. This method maps a complex optical path to a single optical axis model, making the azimuth and elevation axes equivalently coaxial in the imaging coordinate system, thereby constructing a simplified initial image rotation calculation model. By applying a small-angle deflection to the fast-reflecting mirror, the response relationship of the imaging miss distance in the image coordinate system is obtained. Mapping curves between each axis of the fast-reflecting mirror and each component of the miss distance are established. The initial phase angle is calibrated and compensated using the decoupling state as a criterion, ultimately obtaining a high-precision image rotation angle. This method does not require precise optical path parameter modeling, and the calculation process is simple and converges quickly.

[0017] It is understood that the beneficial effects of the second, third, and fourth aspects mentioned above can be found in the relevant descriptions in the first aspect above, and will not be repeated here. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of image rotation under the original complex optical path provided in the embodiments of the present invention; Figure 2 This is a schematic diagram of the equivalent straightened optical path provided in an embodiment of the present invention; Figure 3 A schematic diagram of the fast-reflection mirror calibration curve (preliminary image rotation calibration) provided for an embodiment of the present invention. Figure 4 This is a schematic diagram of image spin decoupling after calibration, provided in an embodiment of the present invention. Detailed Implementation

[0020] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0021] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0022] Furthermore, in the description of this invention and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0023] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of the invention include a particular feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized. "A plurality" means "two or more."

[0024] This invention belongs to the field of imaging geometry calculation technology for optoelectronic tracking systems, specifically relating to a method for rapid image rotation calculation and correction under complex optical path conditions, which is particularly suitable for optoelectronic tracking systems that include fast-reflecting mirrors, dual-axis servo turntables, and multi-stage reflection optical paths.

[0025] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0026] To address the problems of existing image rotation calculation methods for optoelectronic tracking systems, which rely on complex optical path modeling, have many error terms, are difficult to implement in engineering, and still require calibration correction to meet accuracy requirements, this invention proposes a fast image rotation calculation method for optoelectronic tracking systems.

[0027] This invention simplifies the optical path structure of the system in an equivalent geometric sense, constructs an initial image rotation calculation model, and introduces a calibration compensation mechanism based on the relationship between the fast-reflecting mirror and the imaging miss distance response to accurately correct the initial model, thereby quickly obtaining a high-precision image rotation angle without the need for fine optical path modeling.

[0028] To achieve the above objectives, the present invention adopts the following technical solution: This invention provides a method for fast calculation of complex image rotation in an optoelectronic tracking system, comprising the following steps: 1. Steps for constructing an equivalent optical path By introducing a reflection structure into the system's optical path, the complex optical path containing multiple levels of reflection is geometrically equivalent to a single optical axis model, making the azimuth axis and pitch axis of the dual-axis servo turntable coaxial in the imaging coordinate system.

[0029] 2. Steps for establishing the initial image rotation model Based on the equivalent optical path model, the initial image rotation solution relationship of the system is established. The system image rotation angle is expressed as an algebraic combination of the turntable azimuth angle and the elevation angle. An initial phase angle is introduced to characterize the system assembly error and the fixed optical path offset.

[0030] 3. Steps for obtaining the excitation and miss distance of the fast-reflection mirror With the turntable attitude remaining unchanged, a predetermined small-angle deflection is applied to the fast-reflecting mirror to obtain the change response of the imaging miss amount in the image coordinate system.

[0031] 4. Steps for constructing the fast-reflection mirror-off-target mapping relationship Based on the correspondence between the deflection of each axis of the fast-reflecting mirror and the components of the miss distance, a mapping curve between the axis of the fast-reflecting mirror and the miss distance of the imaging is established to characterize the rotational coupling relationship of the system imaging.

[0032] 5. Initial phase angle compensation and image rotation calculation steps Based on the decoupling state of the mapping curve, the initial phase angle is compensated and corrected to obtain the true initial image rotation angle of the system. Combined with the initial image rotation model, the image rotation angle is quickly calculated.

[0033] like Figure 1The diagram illustrates a complex image rotation relationship introduced by multiple 45° mirrors and a dual-axis turntable in an electro-optical tracking system. The optical path sequentially passes through: camera, 45° mirrors 1, 2, and 3, turntable azimuth axis, 45° mirrors 4, 5, and 6, turntable pitch axis, and finally reaches the fast-reflecting mirror. In this structure, the imaging coordinate system has a complex image rotation angle relative to the spatial coordinate system, which is affected by the azimuth angle, pitch angle, and initial phase of the optical path.

[0034] like Figure 2 As shown, the multi-stage reflection optical path is geometrically transformed to be equivalently straightened into a single straight line in the mathematical model, achieving equivalent coaxiality between the azimuth and pitch axes. This equivalent model simplifies the calculation of the image rotation angle and provides a theoretical basis for rapid solution.

[0035] Figure 3 This diagram demonstrates the variation curves of the miss distances X and Y after preliminary image spin calibration, achieved by controlling the X-axis and Y-axis motion of the fast-reflecting mirror. The diagram includes four control curves: fast-reflecting X → miss distance X; fast-reflecting X → miss distance Y; fast-reflecting Y → miss distance X; fast-reflecting Y → miss distance Y. By analyzing the slope of the curves, the degree of coupling between the fast-reflecting mirror and the miss distance can be determined, enabling precise calibration of the image spin model.

[0036] like Figure 4 As shown, after calibrating the initial image rotation angle and compensating it into the model, the fast-reflection mirror motion experiment was repeated. The X and Y curves corresponding to the X-axis and Y-axis motion of the fast-reflection mirror were recorded to confirm that the fast-reflection X only affects the target miss X, and the fast-reflection Y only affects the target miss Y, thus achieving decoupling and verifying that the image rotation calibration was completed.

[0037] Compared with the prior art, the present invention has at least the following beneficial effects: 1. By constructing an equivalent optical path, the dependence of image spin calculation on detailed modeling of complex optical paths is significantly reduced; 2. Image spin compensation is completed by utilizing the response relationship between the fast-reflecting mirror and the imaging miss distance, which is simple and reliable for engineering implementation; 3. The image spin calculation model is concise and has a small computational load, making it suitable for rapid calculation requirements; 4. Image spin correction is completed through decoupling criteria, making the calibration process intuitive and repeatable; 5. It is applicable to various optoelectronic tracking and aiming system structures that include fast-reflecting mirrors and dual-axis servo turntables.

[0038] The following is a description through specific embodiments.

[0039] Example Step 1: Optical Path Equivalence and Initial Model Construction The original optical path in the photoelectric tracking system ( Figure 1 Equivalent straightening ( Figure 2 The system includes: a camera, 45° reflectors 1-6, a turntable azimuth axis, a turntable pitch axis, and a fast-reflecting mirror. An initial image rotation calculation model is established, simplifying the complex image rotation relationship as follows: in: The rotation angle (image rotation angle) between the camera image and the target. : Turntable azimuth angle, the direction is defined by the right-hand rule, with the thumb pointing from the direction of the 45° reflector 3 to the 45° reflector 4, the direction of the four fingers rotating; The pitch angle of the turntable is defined by the direction of rotation of the four fingers when the thumb points from the 45° reflecting mirror 6 to the fast reflecting mirror, according to the right-hand screw rule. Initial image rotation angle (the inherent image rotation deviation of the system when the fast-reflecting mirror is not calibrated).

[0040] Step 2: Fast Reflection Mirror Calibration Experiment via fast-reflective mirror , The single-step motion of the axis is recorded, and the miss distance after initial calibration is recorded. The miss distance is... The experimental steps are as follows: 1. Control the fast-reflective mirror Axial displacement Record off-target amount 2. Control the fast-reflective mirror Axial displacement Record off-target amount 3. Generate a calibration curve and fit the slope: in: : Coupling coefficient between the motion of the fast-reflecting mirror and the corresponding miss distance. : Coupling coefficient between fast-reflection mirror motion and non-corresponding miss distance Decoupling conditions: Fast-reflecting mirrors only function when decoupling is achieved. Only affects the amount of miss. fast-reflective mirror Only affects the amount of miss. Image rotation correction is complete.

[0041] Step 3: Initial image rotation angle compensation calculation Calculate the compensation value of the initial image rotation angle using the calibration curve: Substituting the initial image rotation angle into the model yields the calibrated image rotation angle: Step 4: Calibration Verification and Decoupling Repeated fast-reflection mirror motion experiment: 1. Quick-reaction mirror Axis motion, recording the target miss distance after calibration. 2. Quick-reaction mirror Axis motion, recording the target miss distance after calibration. verify: The fast-reflecting mirror and the miss distance are completely decoupled, and the image rotation angle correction is successful.

[0042] Step 5: Sample Data and Calculations Table 1. Raw data from the X-axis calibration experiment of the fast-reflecting mirror Calculate the coupling coefficient from the data: Calculate the initial image rotation angle compensation from the coupling coefficient: Table 2 Raw data of the Y-axis calibration experiment of the fast-reflection mirror Calculate the coupling coefficient: Calculate the initial image rotation angle compensation from the coupling coefficient: Coupling coefficient This reflects the linear relationship between the motion of the fast-reflecting mirror and the miss distance; see details. Figure 3 .pass and The calculated initial image spin angle compensation can be used to accurately correct the image spin solution model. The recalibration results of the solved model are as follows: Figure 4 As shown, the fast-reflection mirror and the target-missing axis control can be basically decoupled, and one-to-one corresponding control can be performed to achieve fast and accurate target tracking.

[0043] This invention provides a rapid image rotation calculation method for a complex electro-optical tracking system, applicable to systems including multi-stage reflective optical paths, dual-axis servo turntables, and fast-reflecting mirrors. Addressing the problems of existing image rotation calculation methods relying on complex modeling, numerous error terms, and difficult engineering design, this method introduces a 45° reflector structure in an equivalent geometric sense, mapping the complex optical path to a single optical axis model. This ensures that the azimuth and elevation axes are equivalently coaxial in the imaging coordinate system, thereby constructing a simplified initial image rotation calculation model. The image rotation angle can be expressed as the initial phase angle, a combination of algebraic numbers of azimuth and elevation angles. Furthermore, by applying a small-angle deflection to the fast-reflecting mirror, the response relationship of the imaging miss distance in the image coordinate system is obtained. Mapping curves between each axis of the fast-reflecting mirror and each component of the miss distance are established. The initial phase angle is calibrated and compensated using the decoupling state as a criterion, ultimately obtaining a high-precision image rotation angle. This method does not require precise optical path parameter modeling, has a simple calculation process, and fast convergence speed, making it suitable for rapid image rotation calculation and correction under complex optical path conditions.

[0044] Corresponding to the method for rapid calculation of complex image rotation in the optoelectronic tracking system described in the above embodiments, this embodiment of the invention also provides a system for rapid calculation of complex image rotation in the optoelectronic tracking system, which includes: The optical path equivalent module is used to introduce a mirror structure in an equivalent geometric sense, map the complex optical path into a single optical axis model, and make the azimuth axis and elevation axis equivalently coaxial in the imaging coordinate system, thereby constructing a simplified initial image rotation solution model. The relationship establishment module is used to obtain the response relationship of the imaging miss amount in the image coordinate system by applying a small angle deflection to the fast-reflecting mirror, and to establish the mapping curve between each axis of the fast-reflecting mirror and each component of the miss amount. The image rotation calculation module is used to calibrate and compensate the initial phase angle using the decoupling state as a criterion, and finally obtain a high-precision image rotation angle, which is represented by the algebraic array of azimuth and elevation angles superimposed on the initial phase angle.

[0045] It should be noted that the information interaction and execution process between the above modules / units are based on the same concept as the method embodiments of the present invention. For details on their specific functions and technical effects, please refer to the method embodiments section, which will not be repeated here.

[0046] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this invention. The specific working process of the units and modules in the above device can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0047] This invention also provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the method for rapid calculation of complex image rotation for the photoelectric tracking system provided in the first aspect.

[0048] In applications, terminal devices may include, but are not limited to, processors and memory. These are merely examples of terminal devices and do not constitute a limitation on them. They may include more or fewer components, combinations of certain components, or different components, such as input / output devices and network access devices. Input / output devices may include cameras, audio capture / playback devices, displays, etc. Network access devices may include network modules for wireless network communication with external devices.

[0049] In applications, the processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0050] In applications, the memory may be an internal storage unit of the terminal device in some embodiments, such as the hard drive or RAM of the terminal device. In other embodiments, the memory may be an external storage device of the terminal device, such as a plug-in hard drive, a smart media card (SMC), or a flash card. The memory may also include both internal and external storage units of the terminal device. The memory is used to store the operating system, applications, boot loader, data, and other programs, such as the program code of a computer program. The memory can also be used to temporarily store data that has been output or will be output.

[0051] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the steps in the above-described method embodiments.

[0052] The present invention implements all or part of the processes in the methods of the above embodiments by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to a terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, such as a USB flash drive, a portable hard drive, a magnetic disk, or an optical disk.

[0053] Those skilled in the art will recognize that the device and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0054] In the embodiments provided by this invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be through some interfaces, or indirect couplings or communication connections between devices, and may be electrical, mechanical, or other forms.

[0055] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for rapid calculation of complex image rotation in an optoelectronic tracking system, characterized in that, include: Introducing a mirror structure in an equivalent geometric sense maps the complex optical path into a single optical axis model, making the azimuth axis and elevation axis equivalently coaxial in the imaging coordinate system, thereby constructing a simplified initial image rotation solution model. By applying a small-angle deflection to the fast-reflecting mirror, the response relationship of the imaging miss amount in the image coordinate system is obtained, and the mapping curve between each axis of the fast-reflecting mirror and each component of the miss amount is established. The initial phase angle is calibrated and compensated using the decoupling state as a criterion, and finally a high-precision image rotation angle is obtained. The image rotation angle is represented by the sum of the algebraic arrays of the turntable azimuth angle and the turntable pitch angle and the initial phase angle. The introduction of a mirror structure in an equivalent geometric sense maps the complex optical path into a single optical axis model, making the azimuth axis and elevation axis equivalently coaxial in the imaging coordinate system, including: By introducing a mirror structure into the system's optical path, the complex optical path containing multiple levels of reflection is geometrically equivalent to a single optical axis model, making the azimuth axis and pitch axis of the dual-axis servo turntable coaxial in the imaging coordinate system. The process of calibrating and compensating the initial phase angle using the decoupling state as a criterion to ultimately obtain a high-precision image rotation angle includes: Based on the decoupling state of the mapping curve, the initial phase angle is compensated and corrected to obtain the true initial image rotation angle of the system. Combined with the initial image rotation solution model, the image rotation angle is quickly calculated. Decoupling conditions: Only when decoupling is true, The fast-reflecting mirror only affects the miss distance Δ , The fast-reflecting mirror only affects the miss distance Δ Image rotation correction is complete; among them, is the coupling coefficient between the fast-reflecting mirror motion and the non-corresponding miss distance; Calculate the compensation value of the initial image rotation angle using the mapping curve: ;in, The initial image rotation angle, This is the azimuth angle of the turntable. The pitch angle of the turntable.

2. The method for rapid calculation of complex image rotation in an optoelectronic tracking system as described in claim 1, characterized in that, The method further includes: Based on the equivalent single optical axis model, an initial image rotation solution model is established, which represents the image rotation angle as an algebraic combination of the turntable azimuth angle and the turntable pitch angle, and introduces an initial phase angle to characterize the system assembly error and fixed optical path offset.

3. The method for rapid calculation of complex image rotation in an optoelectronic tracking system as described in claim 1, characterized in that, The process of obtaining the response relationship of the imaging miss distance in the image coordinate system by applying a small-angle deflection to the fast-reflecting mirror and establishing the mapping curves between each axis of the fast-reflecting mirror and each component of the miss distance includes: With the turntable attitude remaining unchanged, a predetermined small-angle deflection is applied to the fast-reflection mirror to obtain the change response of the imaging miss amount in the image coordinate system. Based on the correspondence between the deflection of each axis of the fast-reflecting mirror and the components of the miss distance, a mapping curve between the axis of the fast-reflecting mirror and the miss distance of the imaging is established to characterize the rotational coupling relationship of the system imaging.

4. A rapid image rotation calculation system for an optoelectronic tracking system, characterized in that, include: The optical path equivalent module is used to introduce a mirror structure in an equivalent geometric sense, map the complex optical path into a single optical axis model, and make the azimuth axis and elevation axis equivalently coaxial in the imaging coordinate system, thereby constructing a simplified initial image rotation solution model. The relationship establishment module is used to obtain the response relationship of the imaging miss amount in the image coordinate system by applying a small angle deflection to the fast-reflecting mirror, and to establish the mapping curve between each axis of the fast-reflecting mirror and each component of the miss amount. The image rotation calculation module is used to calibrate and compensate the initial phase angle using the decoupling state as a criterion, and finally obtain a high-precision image rotation angle. The image rotation angle is represented by the algebraic combination of the turntable azimuth angle and the turntable pitch angle and the superimposed initial phase angle. The optical path equivalent module is specifically used for: By introducing a mirror structure into the system's optical path, the complex optical path containing multiple levels of reflection is geometrically equivalent to a single optical axis model, making the azimuth axis and pitch axis of the dual-axis servo turntable coaxial in the imaging coordinate system. The image rotation calculation module is specifically used for: Based on the decoupling state of the mapping curve, the initial phase angle is compensated and corrected to obtain the true initial image rotation angle of the system. Combined with the initial image rotation solution model, the image rotation angle is quickly calculated. Decoupling conditions: Only when decoupling is true, The fast-reflecting mirror only affects the miss distance Δ , The fast-reflecting mirror only affects the miss distance Δ Image rotation correction is complete; among them, is the coupling coefficient between the fast-reflecting mirror motion and the non-corresponding miss distance; Calculate the compensation value of the initial image rotation angle using the mapping curve: ;in, The initial image rotation angle, This is the azimuth angle of the turntable. The pitch angle of the turntable.

5. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method for rapid calculation of complex image rotation for the photoelectric tracking system as described in any one of claims 1 to 3.

6. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for rapid calculation of complex image rotation for the photoelectric tracking system as described in any one of claims 1 to 3.

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