Fig. 1. Basic structure schematic diagram of compound axis of single detector

Fig. 2. Control structure diagram of single detector compound axis

Fig. 3. Compound axis control structure diagram based on Kalman filter

Fig. 4. Rotation diagram of decoupling coordinate system

Fig. 5. Diagram of ecoupling experimental system

Fig. 6. Azimuth-pitch two-dimensional trajectory curve

Fig. 7. Comparison of calculation results between traditional Kalman algorithm and adaptive Kalman algorithm

Fig. 8. Comparison of decoupled tracking experimental results