This project belongs to the field of photoelectric tracking and testing instruments. Laser tracking technology has a wide range of applications in space optical communication, infrared countermeasures, laser radar, industrial measurement, machine vision, etc., and its technical indicators directly determine the performance of photoelectric tracking, photoelectric imaging, photoelectric detection, and other systems. However, existing laser tracking technology is difficult to meet the dynamic target tracking requirements in complex scenarios such as large range, high precision, multiple modes, and variable scales, and there is a lack of adaptability on-site. It is urgently necessary to carry out research on the realization principles and key technologies of new laser tracking systems. Supported by more than ten scientific research projects including National Natural Science Foundation, international cooperation projects, and Shanghai municipal science research projects, this project has undergone more than a decade of research. Significant breakthroughs have been made in key technologies such as the beam deflection mechanism of laser tracking, the realization form of tracking mechanisms, tracking control, and information acquisition. The project has innovated in principle for multiple modes and The implementation method of variable scale laser tracking involves the invention of a series of multi-mode laser tracking devices and their application in practice. The main points of innovation include: 1. Multi-mode, variable scale laser coarse and fine coupling tracking technology and devices. (1) Various cascaded prism coarse and fine tracking devices were invented, which achieve coarse and fine two-stage beam axis pointing adjustments within a single system, significantly improving the pointing accuracy of the beams. By matching different speed ratios of cascaded prisms, it is possible to generate multi-mode tracking characteristics such as linear and arc types, which are highly adaptive to time-varying trajectory tracking, innovating the implementation method of multi-mode tracking in principle. (2) To address the issues of high-precision directional tracking and precise control for variable angles, an slider-traction type pendulum mirror drive mechanism was invented. The use of three modular linkage motions with a large displacement reduction ratio meets the requirements of high-precision laser tracking. 2. Sub-microarcsecond measurement level laser tracking pointing technology and tracking mechanism. (1) Cleverly utilizes the relationship where the prism deflection angle has a deceleration ratio of one hundred times that of the beam refraction angle, achieving sub-microarcsecond measurement level beam deflection with a general mechanical structure, providing new means for sub-microarcsecond level beam orientation. (2) Invented a cam-driven mechanism for nonlinear tracking at sub-microarcsecond levels, transforming the nonlinear relationship between prism deflection angle and beam deviation angle into the contour design of the cam profile. By linear driving of the cam, it achieves the effect of sub-microarcsecond level nonlinear tracking, not only simplifying the difficulty of real-time control but also improving the accuracy and timeliness of control. 3. Dual-view zoom imaging three-dimensional tracking and rotation detection positioning system. (1) In response to the ambiguity and latency issues in image matching for distance information acquisition in three-dimensional measurement, Invention of a dual-field zoom imaging system that collects two homologous feature images at the same exposure time, completing three-dimensional reconstruction in a single exposure, avoiding the latency and errors introduced by defocus or focus in monocular tracking. By controlling the coarse and fine tracking mechanisms together, it is possible to switch between coarse and fine scale tracking, achieving continuous three-dimensional tracking of dynamic targets without cooperative target mirrors. (2) Invention of a simple structure rotatable detector device that solves the problem of positioning in both horizontal and vertical directions that cannot be achieved by a single sensor, overcoming the performance differences and output errors of sensors in different directions caused by environmental interference. The project has applied for 15 invention patents, of which 11 have been granted, and 1 utility model patent; published 101 papers (some of which are listed in the bibliography), including more than 20 papers indexed by SCI and more than 50 papers indexed by EI, with over 100 citations; Five doctoral students and twelve master's students have been trained. The project's achievements have been evaluated by a national-level science and technology novelty search institution, which determined that the results reach an international advanced level. The project has established a multi-mode laser tracking test platform at Tongji University, covering all technical aspects of this achievement. It has been promoted and applied in more than ten enterprises, universities, and research institutes including Shanghai Tongxin Electromechanical Control Technology Co., Ltd., Shanghai Hanbang Security Equipment Co., Ltd., Shanghai Jiading Advanced Technology Innovation and Cultivation Center of Chinese Academy of Sciences, Harbin Institute of Technology, Shanghai Institute of Optics and Mechanics of Chinese Academy of Sciences, etc. In the past three years, it has generated over thirty million yuan in new direct output value, saved more than five million yuan in funds, and achieved significant military, economic, and social benefits.