The optical measurement equipment has gradually expanded from ground-based to ship-borne, vehicle-mounted, and airborne platforms. At this stage, the traditional ground-based single axis dynamic detection device is used to detect the tracking performance of the optical measurement equipment with the moving platform, and its motion trajectory is relatively single. The motion equation components of the simulated target in the azimuth and pitch directions have high-order derivatives. Although the axis number for the detection target has been increased to three, there are still position blind spots in the workspace. It is impossible to truly simulate the 6-DOF (Degree of Freedom) motion characteristics of moving platform and typical maneuvering target.In order to test and evaluate the tracking performance of optical measuring equipment with a moving platform under ground conditions, a 6-DOF detection target and detection method are proposed. In view of the fact that the traditional kinematics modeling and trajectory planning methods of multi-DOF serial mechanisms need to establish six coordinate systems, the calculation process is cumbersome, and there are problems such as poor real-time performance and easy to appear motion singular solutions. A continuous and singularity free kinematic model of the detection target is established in a global way by using the screw exponential product method. The method only needs to establish the head and tail coordinate systems of the detection target, which can completely express the transformation relationship between joints, and it is convenient to solve the inverse kinematics. The fusion motion trajectory in real time and high precision is simulated and the operation efficiency is improved. Shipborne optical measuring equipment is a typical ship moving platform equipment. The XX-1109 shipborne optical measuring equipment is studied and its tracking performance is tested.According to the performance of the detection target and optical measurement equipment, the azimuth and pitch axes tracking random errors of the XX-1109 shipborne optical measurement equipment are calculated and analyzed to be 23.88″ and 23.86″, respectively. The simulated optical target is installed at the end of the 6-DOF manipulator, and then a new 6-DOF detection system is constructed. The detection system is mainly composed of the simulated optical target, 6-DOF manipulator, operation control subsystem, data communication subsystem, time measurement terminal and data processing subsystem. The detection target adopts ABB 6-DOF manipulator IRB 6700-205, and its repeated positioning accuracy is 0.1 mm. The XX-1109 shipborne optical measurement equipment is deployed at a distance of about 5 meters from the detection target. The detection target simulates the movement track in real time. The XX-1109 tracks the simulated target in real time to achieve the detection and identification of tracking performance. By formulating a reasonable and feasible detection method, the tracking performance of XX-1109 optical measurement equipment is tested and evaluated. The test results show that the kinematics model of the detection target established by the screw exponential product method realizes the real-time high-precision trajectory planning of the ship moving platform and typical maneuvering targets, which improves the calculation efficiency and avoids the problem of motion singularity in traditional modeling methods. Considering the size of angular velocity and the randomness of error, the tracking random error of the XX-1109 optical measuring equipment is consistent with the theoretical analysis, which verifies the effectiveness and superiority of the new detection system and method. The tracking performance test of the optical measuring equipment with moving platform under the ground conditions is realized.The new detection system and method have successfully completed the detection and identification of the optical measurement equipment on shipborne, vehicle-mounted and airborne moving platforms. It can not only quickly find tracking performance problems in the development stage, but also reduce the development cycle and the cost, which has important engineering application value.