A method to generate and optimize angle increments was put forward to extract the tracking loop instruction of a roll-pitch seeker. Firstly, one kind of the roll-pitch seeker was introduced, and its mechanical construction and operation principle were given. Then, the angle increments of roll gimbals and pitch gimbals were calculated based on the target deviation on the image plane and the optical focal length. Both roll gimbal instruction and pitch gimbal instruction were calibrated to be absolute angular position instructions from the zero position respectively. The absolute angular position instruction for the pitch gimbals was calibrated to be from zero to π/2, while that for the roll gimbals was calibrated to be from zero to 2π. According to the principle of minimizing the angle increment of roll gimbals as small as possible, four different optimized control strategies were designed. On the basis of mentioned strategies,the feedback roll gimbal angle was separated into four quadrants. Finally, a simulation and a test were implemented to check the validity of the presented algorithm. Results show that the submitted generation and optimization of angle increments for roll-pitch seekers perform effectively and the tracking error is less than 0.15°.