CN111510624A - Target tracking system and target tracking method - Google Patents
Target tracking system and target tracking method Download PDFInfo
- Publication number
- CN111510624A CN111510624A CN202010280899.2A CN202010280899A CN111510624A CN 111510624 A CN111510624 A CN 111510624A CN 202010280899 A CN202010280899 A CN 202010280899A CN 111510624 A CN111510624 A CN 111510624A
- Authority
- CN
- China
- Prior art keywords
- mobile device
- angle
- module
- holder
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000012545 processing Methods 0.000 claims abstract description 30
- 238000004891 communication Methods 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Studio Devices (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a target tracking system and a target tracking method. The method comprises the following steps: obtaining target position information of a tracked target object; determining the current angle information of the holder, the horizontal inclination angle of the holder relative to the horizontal position, the position information of the mobile device and the course angle information; processing the data through a data processing module to determine the distance information between the mobile device and the tracked target object, the horizontal azimuth angle and the pitching mechanical angle of the cradle head module needing to rotate; sending the horizontal azimuth angle and the pitching mechanical angle to a holder controller, and controlling a holder module to rotate to a corresponding angle by the holder controller so that the camera is aligned to a tracked target object; and sending the distance information to a mobile control module, and controlling the mobile device to keep a corresponding distance with the tracked target object by the mobile control module.
Description
Technical Field
The invention relates to a target tracking system and a corresponding target tracking method, belonging to the technical field of satellite navigation.
Background
At present, with the development of artificial intelligence and image processing technology, target tracking systems based on image recognition are widely applied. The target tracking system is a good tracking shooting solution. However, in some scenarios, such an image recognition-based target tracking system has natural drawbacks. For example, after a moving target is blocked by an obstacle during traveling for a certain period of time, a target tracking system based on image recognition may lose the target and thus the target cannot be tracked and photographed.
Disclosure of Invention
The invention provides a target tracking system.
Another technical problem to be solved by the present invention is to provide a target tracking method.
In order to achieve the purpose, the invention adopts the following technical scheme:
according to a first aspect of embodiments of the present invention, there is provided a target tracking system, comprising a GNSS positioning apparatus, a wireless communication apparatus and a mobile apparatus; the mobile device comprises a data processing module, a mobile control module, a positioning and orientation module and a holder module; the holder module comprises a photoelectric encoder, a level meter, a holder controller and a camera;
the GNSS positioning device is arranged on a tracked target object and is used for acquiring target position information of the tracked target object in real time, connecting the GNSS positioning device with a mobile device through a wireless communication device and sending the target position information to the mobile device;
the mobile device determines the current angle information of the holder through a photoelectric encoder of the holder module, determines the horizontal inclination angle of the holder relative to the horizontal position through a gradienter of the holder module, determines the position information and the course angle information of the mobile device through a positioning and orientation module, processes the target position information, the current angle information of the holder, the horizontal inclination angle, the position information and the course angle information of the mobile device through a data processing module, and determines the distance information between the mobile device and a tracked target object, the horizontal azimuth angle and the pitching mechanical angle of the holder module which need to rotate; sending the horizontal azimuth angle and the pitching mechanical angle to a pan-tilt controller in a pan-tilt module through a data processing module, wherein the pan-tilt controller controls the pan-tilt module to rotate to a corresponding angle, so that a camera is aligned to a tracked target object; and sending the distance information to a mobile control module through a data processing module, wherein the mobile control module controls the mobile device to keep a corresponding distance with the tracked target object.
Preferably, the GNSS positioning apparatus is disposed on a target object to be tracked.
Preferably, the positioning and orienting module is a dual-antenna GNSS positioning and orienting structure; the baseline of the mobile device is determined by a linear vector between two antennas in the double-antenna GNSS positioning and orienting structure, so that the baseline of the mobile device is parallel to the central axis of the mobile device and passes through the center of the holder module.
According to a second aspect of the embodiments of the present invention, there is provided a target tracking method implemented based on the above target tracking system; the method comprises the following steps:
obtaining target position information of a tracked target object in real time and sending the target position information to a mobile device;
determining the current angle information of the holder through a photoelectric encoder;
determining a horizontal inclination angle of the holder relative to a horizontal position through a level meter;
determining position information and course angle information of the mobile device through a positioning and orientation module;
processing the target position information, the current angle information of the holder, the horizontal inclination angle, the position information of the mobile device and the course angle information, and determining the distance information between the mobile device and the tracked target object, the horizontal azimuth angle and the pitching mechanical angle of the holder module needing to rotate;
sending the horizontal azimuth angle and the pitching mechanical angle to a holder controller, and controlling a holder module to rotate to a corresponding angle by the holder controller so that a camera is aligned to a tracked target object;
and sending the distance information to a mobile control module, wherein the mobile control module controls the mobile device to keep a corresponding distance with the tracked target object.
Wherein preferably said mobile device location information comprises a mobile device altitude H1, a mobile device latitude L at1, and a mobile device longitude L ng 1;
the target position information comprises a tracked target object altitude H2, a tracked target object latitude L at2 and a tracked target object longitude L ng 2;
the heading angle information includes a heading angle ∠ N of the mobile device.
Preferably, the moving device determines the horizontal azimuth Az of the pan/tilt module needing to rotate by adopting the following formula:
preferably, the mobile device determines the distance information D between the mobile device and the tracked target object by using the following formula:
wherein, pi is the circumference ratio, and R is the radius of the earth.
Preferably, the moving device determines the mechanical pitch angle El of the pan/tilt module, which needs to be rotated, by using the following formula:
wherein ∠ M is a horizontal inclination angle.
The target tracking system and the target tracking method provided by the invention have the advantages that the horizontal inclination angle of the holder relative to the horizontal position is determined through the level meter of the holder module, and the course angle information is determined through the positioning and orienting module, so that the course angle information is added into the calculation scheme when the horizontal azimuth angle is calculated later, and the horizontal inclination angle is added into the calculation scheme when the pitching mechanical angle is calculated later, so that the calculation of the horizontal azimuth angle and the pitching mechanical angle which are required to be rotated by the holder module is controlled to be more accurate. Meanwhile, the invention can also determine the distance information between the mobile device and the tracked target object, so that the mobile device and the tracked target object can keep a corresponding distance, the accurate control of target tracking is realized, and the effect of shooting the tracked target object is better.
Drawings
Fig. 1 is a schematic structural diagram of a target tracking system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a position relationship between a mobile device, a pan-tilt module, and a dual-antenna GNSS positioning and orientation structure according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the geometry of the mobile device and the tracked target object according to an embodiment of the present invention;
fig. 4 is a flowchart of a target tracking method according to an embodiment of the present invention.
Detailed Description
The technical contents of the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
At present, an intelligent target tracking System based on Global Navigation Satellite System (GNSS) positioning coordinate calculation can calculate horizontal and vertical target angles between two points according to Satellite positioning information of the two points, and a pan-tilt controls a camera to deflect to a corresponding target angle, so that an effect of tracking a shot target is achieved. However, the intelligent target tracking system has a plurality of problems: firstly, the target angle of the system for controlling the deflection of the holder is inaccurate, the system does not have the capabilities of orientation and measurement of the horizontal inclination angle of the system, the system can only calculate the horizontal angle and the vertical angle between two points according to the satellite positioning information of the two points, the horizontal target angle is the result calculated by taking the earth as a reference system and taking the north pole as the azimuth 0. In practical use, the angle of 0 degree of the mechanical holder is random relative to the angle of the north pole, and the horizontal target angle is correct only under the condition that the angle of 0 degree of the mechanical holder is parallel to the north pole of the earth. The system calculates the vertical target angle, namely the default system is in a horizontal state, so that the obtained vertical target angle is correct only when the holder is in an absolute horizontal state. Secondly, the system has no moving capability, and when a shooting target with a large moving range is faced, the system can not clearly shoot a long-distance target and meet the complex shooting requirement.
In order to overcome the above problem, an embodiment of the present invention provides an object tracking system as shown in fig. 1. The target tracking system 10 includes: a GNSS positioning device 11, a wireless communication device 12 and a mobile device 13.
The mobile device 13 includes a data processing module 131, a movement control module 132, a positioning and orientation module 133, and a pan-tilt module 134; pan and tilt module 134 includes an opto-electric encoder 1341, a level 1342, a pan and tilt controller 1343 and a camera 1344.
The GNSS positioning apparatus 11 is disposed on the tracked target object 20, and is configured to obtain target position information of the tracked target object 20 in real time, and to implement a communication connection with the mobile apparatus 13 through the wireless communication apparatus 12, and to transmit the target position information to the mobile apparatus 13.
The mobile device 13 determines the current angle information of the pan/tilt head through the photoelectric encoder 1341 of the pan/tilt head module 134; determining the horizontal inclination angle of the pan/tilt head relative to the horizontal position by the level 1342 of the pan/tilt head module 134; determining mobile device position information and heading angle information by the position and orientation module 133; processing the target position information, the current angle information of the holder, the horizontal inclination angle, the position information of the mobile device and the course angle information through the data processing module 131, and determining the distance information between the mobile device 13 and the tracked target object 20, and the horizontal azimuth angle and the pitching mechanical angle of the holder module 134 which need to rotate; the horizontal azimuth angle and the pitching mechanical angle are sent to the pan-tilt controller 1343 in the pan-tilt module 134 through the data processing module 131, so that the pan-tilt controller 1343 controls the pan-tilt module 134 to rotate to a corresponding angle by adopting the horizontal azimuth angle and the pitching mechanical angle, and the camera 1344 is aligned to the tracked target object 20; the distance information is sent to the movement control module 132 through the data processing module 131, so that the movement control module 132 controls the mobile device 13 to keep a corresponding distance with the tracked target object 20, thereby achieving accurate control of target tracking, and since the corresponding distance can be kept, the change of the focusing parameters and the like of the camera is small, and the effect of shooting the tracked target object is better.
Here, the movement control module 132 controls the moving device 13 to keep a corresponding distance from the tracked target object 20, which may be implemented as follows:
the motion control module 132 may include a PID (proportional integral derivative) control module, a driver, a servo motor, and the like. Thus, after the distance information is sent to the motion control module 132, the PID control module can run the PID control algorithm and output a speed command to the driver. The driver outputs a PWM (pulse width modulation) wave current with a certain duty ratio to the servo motor according to the speed instruction, and the rotation speed of the servo motor is controlled. The servo motor drives a transmission mechanism of the moving device, so that the moving device moves. The PID control algorithm is applied to enable the mobile control of the mobile device to be more accurate and convenient.
Wherein the GNSS positioning apparatus 11 is disposed on a tracked target object 20 on the ground. The positioning and orientation module 133 is disposed at the ground moving device 13, and the ground moving device 13 may be a ground moving carrying device such as a four-wheel vehicle or a crawler vehicle. Embodiments of the present invention are generally directed to ground shooting targets. In order to accurately track the target, the positioning and orientation module 133 may adopt a GNSS positioning and orientation module based on a Real-Time Kinematic (RTK) technology, for example, the positioning accuracy of the current positioning and orientation board card based on the RTK technology may be within 1 meter, the orientation accuracy is within 0.3 degrees, and it can be seen that the positioning accuracy based on the RTK technology is higher, which can completely meet the positioning requirement of the present invention for target tracking.
In addition, as shown in fig. 2, the positioning and orientation module 133 may employ a dual-antenna GNSS positioning and orientation mechanism including an antenna a and an antenna B); the baseline of mobile device 13 is determined by the linear vector between the two antennas (antenna a and antenna B) in the dual-antenna GNSS positioning and orientation mechanism, such that the baseline of mobile device 13 is parallel to the central axis of mobile device 13 and passes through the center of pan-tilt module 134. For example, in fig. 2, two antennas (antenna a and antenna B) are disposed on a central axis of the mobile device 13, a linear vector formed by the two antennas is a base line of the mobile device 13, and a vector direction is directed from a tail of the mobile device 13 to a head (e.g., a tail of an automobile is directed to a head of the automobile). The pan/tilt module 134 is mounted on the mobile device 13 on the ground, and may be a disk type, and the center of the disk type may be on the base line of the mobile device 13. The horizontal mechanical angle calibration range of the pan-tilt module 134 is 0-360 degrees, two intersection points of the pan-tilt module 134 and the base line of the mobile device 13 are respectively set as 0-180 degrees of mechanical orientation, the pitching mechanical angle calibration range is-90 degrees, and the horizontal position relative to the base line is set as 0 degree of pitching mechanical angle.
The wireless communication device 12 in the embodiment of the present invention may be a device with a function of wirelessly transmitting data, such as a bluetooth device, a WiFi (wireless Internet access) device, or a narrowband Internet of Things (NB-IoT) device. Therefore, the wireless communication modes of the invention are various, so that the communication environment suitable for target tracking in the embodiment of the invention is more diversified.
In addition, in the embodiment of the invention, the mobile device position information can comprise a mobile device altitude H1, a mobile device latitude L at1 and a mobile device longitude L ng1, the target position information can comprise a tracked target object altitude H2, a tracked target object latitude L at2 and a tracked target object longitude L ng2, and the course angle information can comprise a course angle ∠ N of the mobile device.
In the embodiment of the present invention, the mobile device 13 may specifically determine, through the data processing module, the horizontal azimuth Az of the pan/tilt module, which needs to be rotated, by using the following formula:
since the horizontal azimuth Az is calculated by using the heading angle ∠ N of the mobile device as a factor in the solution of the horizontal azimuth Az, the horizontal azimuth Az is closer to the actual situation and more accurate than a horizontal azimuth obtained without considering the influence of the heading angle ∠ N of the mobile device.
In order to more intuitively represent the solving process of the horizontal azimuth Az, as shown in FIG. 3, A is the position of the mobile device, B is the position of the tracked target object, E and F are the mapping of the points A and B on the equatorial plane, O is the geocentric, C is the north of the earth, D is the spherical distance between the two points AB, and the position information of A is obtained according to GNSS positioning, namely, the longitude L ng1, the latitude L at1, the altitude H1, the position information of the tracked target object B, the longitude L ng2, the latitude L at2 and the altitude H2.
The horizontal azimuth, i.e., the azimuth of point B relative to point A, is found to be equivalent to finding the dihedral angle C-OA-B.
From the trigonometric cosine theorem
cos(∠AOB)＝cos(∠AOC)cos(∠BOC)+sin(∠AOC)sin(∠BOC)cos(∠A－OC－B)；
Definition of longitude gives ∠ AOE-L at1, ∠ BOF-L at2, so ∠ AOC-90- ∠ AOC-90 ° -L at1, ∠ BOC-90 ° - ∠ BOC-90 ° -L at 2;
∠ a-OC-B is equivalent to a, and two points B map the included angle of two points EF on the equatorial plane, namely ∠ EOF, according to the definition of longitude, ∠ EOF-L ng 2-L ng1, so ∠ a-OC-B- ∠ EOF-L ng 2-L ng 1.
By bringing in coordinate data, we can get:
cos(∠AOB)＝cos(90°－Lat1)×cos(90°－Lat2)+sin(90°－Lat1)×sin(90°－Lat2)×cos(Lng2－Lng1)；
sin (∠ AOB) ═ sqrt (1-cos 2(∠ AOB)). sqrt denotes the open root number operation according to the trigonometric function formula.
Sin (∠ C-OA-B) ═ sin (∠ BOC) sin (a-OC-B)/sin (∠ AOB) obtained from the spherical sine formula;
so ∠ C-OA-B ═ arcsin (sin (∠ BOC) sin (A-OC-B)/sin (∠ AOB))
The above known results are carried over to yield:
in addition, in the embodiment of the present invention, the mobile device 13 may specifically determine, through the data processing module, the distance information D between the mobile device and the tracked target object by using the following formula:
wherein, pi is the circumference ratio, and R is the radius of the earth.
That is, for example, in fig. 3, the distance D ═ R × rad (∠ AOB) of the spherical surface AB.
The formula is as follows:
where R is the earth radius, for example, R is 6371393 m, and pi is the circumference ratio pi 3.1415926535898.
In addition, in the embodiment of the present invention, the mobile device 13 may specifically determine, through the data processing module, the mechanical pitch angle El of the pan/tilt module, which needs to be rotated, by using the following formula:
wherein ∠ M is a horizontal inclination angle.
Since the horizontal tilt angle ∠ M is calculated as a factor in the calculation of the mechanical pitch angle El, the mechanical pitch angle El is closer to the actual situation and more accurate than the mechanical pitch angle that is obtained without considering the influence of the horizontal tilt angle ∠ M.
In addition, the embodiment of the invention further provides a target tracking method, which is realized based on the target tracking system shown in fig. 1. The target tracking system comprises a GNSS positioning device, a wireless communication device and a mobile device; the mobile device comprises a data processing module, a mobile control module, a positioning and orientation module and a holder module; the holder module comprises a photoelectric encoder, a level meter, a holder controller and a camera; the GNSS positioning apparatus is disposed on a target object to be tracked.
As shown in fig. 4, the target tracking method includes the following steps:
And 302, determining the current angle information of the holder through a photoelectric encoder.
And step 303, determining a horizontal inclination angle of the holder relative to the horizontal position through the level meter.
And 305, processing the target position information, the current angle information of the holder, the horizontal inclination angle, the position information of the mobile device and the course angle information, and determining the distance information between the mobile device and the tracked target object, the horizontal azimuth angle and the pitching mechanical angle of the holder module which need to rotate.
And step 306, sending the horizontal azimuth angle and the pitching mechanical angle to a holder controller in the holder module, and controlling the holder module to rotate to a corresponding angle by the holder controller, so that the camera is aligned to the tracked target object.
And 307, sending the distance information to a movement control module, wherein the movement control module controls the moving device to keep a corresponding distance with the tracked target object.
The mobile device position information comprises a mobile device altitude H1, a mobile device latitude L at1 and a mobile device longitude L ng1, the target position information comprises a tracked target object altitude H2, a tracked target object latitude L at2 and a tracked target object longitude L ng2, and the course angle information comprises a course angle ∠ N of the mobile device.
In step 305, the mobile device determines the horizontal azimuth angle that the pan/tilt module needs to rotate through the data processing module, and may be implemented as follows:
the mobile device determines the horizontal azimuth Az of the cradle head module needing to rotate through the data processing module by adopting the following formula:
in step 305, the mobile device determines the distance information between the mobile device and the tracked target object through the data processing module, which may be implemented as follows:
the mobile device determines the distance information D between the mobile device and the tracked target object by adopting the following formula through a data processing module:
wherein, pi is the circumference ratio, and R is the radius of the earth.
In step 305, the mobile device determines, through the data processing module, a mechanical tilt angle at which the pan/tilt head module needs to rotate, and may be implemented as follows:
the mobile device determines a pitching mechanical angle El of the cradle head module, which needs to rotate, through the data processing module by adopting the following formula:
wherein ∠ M is a horizontal inclination angle.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, where instructions are stored on the computer-readable storage medium, and when the instructions are run on a computer, the computer is enabled to execute the target tracking method as described above, which is not described herein again.
In addition, an embodiment of the present invention further provides a computer program product including instructions, which when run on a computer, causes the computer to execute the target tracking method as described above, and details are not repeated here.
The target tracking system and the target tracking method provided by the invention have the advantages that the horizontal inclination angle of the holder relative to the horizontal position is determined through the level meter of the holder module, and the course angle information is determined through the positioning and orienting module, so that the course angle information is added into the calculation scheme when the horizontal azimuth angle is calculated later, and the horizontal inclination angle is added into the calculation scheme when the pitching mechanical angle is calculated later, so that the calculation of the horizontal azimuth angle and the pitching mechanical angle which are required to be rotated by the holder module is controlled to be more accurate. Meanwhile, the invention can also determine the distance information between the mobile device and the tracked target object, so that the mobile device and the tracked target object can keep a corresponding distance, the accurate control of target tracking is realized, and the effect of shooting the tracked target object is better.
The target tracking system and the target tracking method provided by the present invention are explained in detail above. It will be apparent to those skilled in the art that various modifications can be made without departing from the spirit of the invention.
Claims (8)
1. A target tracking system comprising a GNSS positioning apparatus, a wireless communication apparatus and a mobile apparatus; the mobile device comprises a data processing module, a mobile control module, a positioning and orientation module and a holder module; the holder module comprises a photoelectric encoder, a level meter, a holder controller and a camera;
the GNSS positioning device is arranged on a tracked target object and is used for acquiring target position information of the tracked target object in real time, connecting the GNSS positioning device with a mobile device through a wireless communication device and sending the target position information to the mobile device;
the mobile device determines the current angle information of the holder through a photoelectric encoder of the holder module; determining a horizontal inclination angle of the holder relative to a horizontal position through a level gauge of the holder module; determining position information and course angle information of the mobile device through a positioning and orientation module; processing the target position information, the current angle information of the holder, the horizontal inclination angle, the position information of the mobile device and the course angle information through a data processing module, and determining the distance information between the mobile device and a tracked target object, and the horizontal azimuth angle and the pitching mechanical angle of the holder module which need to rotate; sending the horizontal azimuth angle and the pitching mechanical angle to a pan-tilt controller in a pan-tilt module through a data processing module, wherein the pan-tilt controller controls the pan-tilt module to rotate to a corresponding angle, so that a camera is aligned to a tracked target object; and sending the distance information to a mobile control module through a data processing module, wherein the mobile control module controls the mobile device to keep a corresponding distance with the tracked target object.
2. The target tracking system of claim 1, wherein:
the GNSS positioning apparatus is disposed on a target object to be tracked.
3. The target tracking system of claim 1, wherein:
the positioning and orientation module is a double-antenna GNSS positioning and orientation structure; the baseline of the mobile device is determined by a linear vector between two antennas in the dual-antenna GNSS positioning and orienting structure, so that the baseline of the mobile device is parallel to the central axis of the mobile device and passes through the center of the holder module.
4. A target tracking method is realized based on the target tracking system of any one of claims 1 to 3, and is characterized by comprising the following steps:
obtaining target position information of a tracked target object in real time and sending the target position information to the mobile device;
determining the current angle information of the holder through a photoelectric encoder;
determining a horizontal inclination angle of the holder relative to a horizontal position through a level meter;
determining position information and course angle information of the mobile device through a positioning and orientation module;
processing the target position information, the current angle information of the holder, the horizontal inclination angle, the position information of the mobile device and the course angle information, and determining the distance information between the mobile device and the tracked target object, the horizontal azimuth angle and the pitching mechanical angle of the holder module needing to rotate;
sending the horizontal azimuth angle and the pitching mechanical angle to a holder controller, and controlling a holder module to rotate to a corresponding angle by the holder controller so that a camera is aligned to a tracked target object;
and sending the distance information to a mobile control module, wherein the mobile control module controls the mobile device to keep a corresponding distance with the tracked target object.
5. The object tracking system of claim 1 or the object tracking method of claim 4, characterized in that:
the mobile device location information includes a mobile device altitude H1, a mobile device latitude L at1, and a mobile device longitude L ng 1;
the target position information comprises a tracked target object altitude H2, a tracked target object latitude L at2 and a tracked target object longitude L ng 2;
the heading angle information includes a heading angle ∠ N of the mobile device.
6. The object tracking system of claim 1 or the object tracking method of claim 4, characterized in that:
the mobile device adopts the following formula to determine the horizontal azimuth Az of the cradle head module needing to rotate:
7. the object tracking system of claim 1 or the object tracking method of claim 4, characterized in that:
the mobile device determines distance information D of the mobile device and the tracked target object by adopting the following formula:
wherein, pi is the circumference ratio, and R is the radius of the earth.
8. The object tracking system of claim 1 or the object tracking method of claim 4, characterized in that:
the moving device adopts the following formula to determine the mechanical pitching angle El of the pan-tilt module, which needs to rotate:
wherein ∠ M is a horizontal inclination angle.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010280899.2A CN111510624A (en) | 2020-04-10 | 2020-04-10 | Target tracking system and target tracking method |
| PCT/CN2021/076737 WO2021203843A1 (en) | 2020-04-10 | 2021-02-18 | Target tracking system and target tracking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010280899.2A CN111510624A (en) | 2020-04-10 | 2020-04-10 | Target tracking system and target tracking method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111510624A true CN111510624A (en) | 2020-08-07 |
Family
ID=71870913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010280899.2A Pending CN111510624A (en) | 2020-04-10 | 2020-04-10 | Target tracking system and target tracking method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111510624A (en) |
| WO (1) | WO2021203843A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021203843A1 (en) * | 2020-04-10 | 2021-10-14 | 瞬联软件科技（北京）有限公司 | Target tracking system and target tracking method |
| CN114396940A (en) * | 2021-12-09 | 2022-04-26 | 浙江大华技术股份有限公司 | Target positioning method and device of monitoring equipment |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113970314B (en) * | 2021-10-18 | 2023-12-01 | 国网辽宁省电力有限公司抚顺供电公司 | Aerial survey method and system for transmission line clearance distance unmanned aerial vehicle |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102045549A (en) * | 2010-12-28 | 2011-05-04 | 天津市亚安科技电子有限公司 | Method and device for controlling linkage-tracking moving target of monitoring device |
| CN102143324A (en) * | 2011-04-07 | 2011-08-03 | 天津市亚安科技电子有限公司 | Method for automatically and smoothly tracking target by cradle head |
| CN105045281A (en) * | 2015-08-13 | 2015-11-11 | 深圳一电科技有限公司 | Unmanned aerial vehicle flight control method and device |
| CN204790577U (en) * | 2015-07-17 | 2015-11-18 | 深圳市浩瀚卓越科技有限公司 | Many rotor unmanned aerial vehicle automatic tracking system based on GPS |
| CN105184776A (en) * | 2015-08-17 | 2015-12-23 | 中国测绘科学研究院 | Target tracking method |
| CN105676865A (en) * | 2016-04-12 | 2016-06-15 | 北京博瑞爱飞科技发展有限公司 | Target tracking method, device and system |
| CN107507107A (en) * | 2017-08-05 | 2017-12-22 | 湛引根 | Automate video display authoring platform, method and its method for running |
| CN107920232A (en) * | 2017-11-28 | 2018-04-17 | 江苏如是地球空间信息科技有限公司 | A kind of intelligent-tracking camera system based on GPS positioning calculating coordinate |
| CN108574822A (en) * | 2017-03-08 | 2018-09-25 | 华为技术有限公司 | A kind of method that realizing target following, monopod video camera and monitor supervision platform |
| CN109154834A (en) * | 2017-11-30 | 2019-01-04 | 深圳市大疆创新科技有限公司 | Control method, the device and system of unmanned plane |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9070289B2 (en) * | 2013-05-10 | 2015-06-30 | Palo Alto Research Incorporated | System and method for detecting, tracking and estimating the speed of vehicles from a mobile platform |
| EP3350622A4 (en) * | 2015-09-16 | 2018-10-10 | SZ DJI Technology Co., Ltd. | Systems and methods for positioning of uav |
| US10677879B2 (en) * | 2017-09-15 | 2020-06-09 | The Boeing Company | Depression angle reference tracking system |
| CN108227754A (en) * | 2018-01-19 | 2018-06-29 | 深圳市科卫泰实业发展有限公司 | A kind of twin shaft holder automatic tracking method and system |
| CN109976339B (en) * | 2019-03-15 | 2021-11-30 | 国网智能科技股份有限公司 | Vehicle-mounted distribution network inspection data acquisition method and inspection system |
| CN111510624A (en) * | 2020-04-10 | 2020-08-07 | 瞬联软件科技（北京）有限公司 | Target tracking system and target tracking method |
-
2020
- 2020-04-10 CN CN202010280899.2A patent/CN111510624A/en active Pending
-
2021
- 2021-02-18 WO PCT/CN2021/076737 patent/WO2021203843A1/en active Application Filing
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102045549A (en) * | 2010-12-28 | 2011-05-04 | 天津市亚安科技电子有限公司 | Method and device for controlling linkage-tracking moving target of monitoring device |
| CN102143324A (en) * | 2011-04-07 | 2011-08-03 | 天津市亚安科技电子有限公司 | Method for automatically and smoothly tracking target by cradle head |
| CN204790577U (en) * | 2015-07-17 | 2015-11-18 | 深圳市浩瀚卓越科技有限公司 | Many rotor unmanned aerial vehicle automatic tracking system based on GPS |
| CN105045281A (en) * | 2015-08-13 | 2015-11-11 | 深圳一电科技有限公司 | Unmanned aerial vehicle flight control method and device |
| CN105184776A (en) * | 2015-08-17 | 2015-12-23 | 中国测绘科学研究院 | Target tracking method |
| CN105676865A (en) * | 2016-04-12 | 2016-06-15 | 北京博瑞爱飞科技发展有限公司 | Target tracking method, device and system |
| CN108574822A (en) * | 2017-03-08 | 2018-09-25 | 华为技术有限公司 | A kind of method that realizing target following, monopod video camera and monitor supervision platform |
| CN107507107A (en) * | 2017-08-05 | 2017-12-22 | 湛引根 | Automate video display authoring platform, method and its method for running |
| CN107920232A (en) * | 2017-11-28 | 2018-04-17 | 江苏如是地球空间信息科技有限公司 | A kind of intelligent-tracking camera system based on GPS positioning calculating coordinate |
| CN109154834A (en) * | 2017-11-30 | 2019-01-04 | 深圳市大疆创新科技有限公司 | Control method, the device and system of unmanned plane |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021203843A1 (en) * | 2020-04-10 | 2021-10-14 | 瞬联软件科技（北京）有限公司 | Target tracking system and target tracking method |
| CN114396940A (en) * | 2021-12-09 | 2022-04-26 | 浙江大华技术股份有限公司 | Target positioning method and device of monitoring equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021203843A1 (en) | 2021-10-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11668815B2 (en) | Systems and methods for detecting objects | |
| US10209342B2 (en) | Electromagnetic radiation source locating system | |
| WO2021203843A1 (en) | Target tracking system and target tracking method | |
| US10431099B2 (en) | Collision avoidance systems and methods | |
| US6140957A (en) | Method and apparatus for navigation guidance | |
| US6052083A (en) | Method and apparatus for position identification | |
| CN105676865A (en) | Target tracking method, device and system | |
| CN113701753B (en) | Phased array antenna-based positioning and orientation device and method | |
| KR20130093526A (en) | Determining spatial orientation information of a body from multiple electromagnetic signals | |
| US20220065657A1 (en) | Systems and methods for vehicle mapping and localization using synthetic aperture radar | |
| CN106005455B (en) | A kind of two axis Towed bird systems for being directed toward control based on geographic coordinate system | |
| US20200174499A1 (en) | Aircraft control system | |
| CN102436260A (en) | Indoor self-positioning and self-directing two-dimensional navigation system | |
| JPWO2019171749A1 (en) | Traffic control system | |
| JP2021131762A (en) | Information processing apparatus, information processing method, and program | |
| TR202002499A2 (en) | Take-off, Navigation and Landing Support System for UNMANNED VEHICLES | |
| Galkin et al. | Mobile satellite antenna control system based on MEMS-IMU | |
| CN115857520A (en) | Unmanned aerial vehicle carrier landing state monitoring method based on combination of vision and ship state | |
| US11549785B2 (en) | Arrangement and method for autoalignment of a stabilized subsystem | |
| CN109540171B (en) | Portable autonomous positioning and directional servo system | |
| CN113504507A (en) | Ultra-large-range space laser positioning device and method | |
| RU2498193C2 (en) | Method of inertial auto-tracking of specified object of viewing and system for its implementation | |
| RU2442185C2 (en) | Method of signal formation for inertial location of specified authentication objects and the inertial discriminator of location signals used for the performance of the above method | |
| CN117490643A (en) | Acquisition method of tracking target position information, hover navigation method and unmanned aerial vehicle | |
| CN115494537A (en) | Unmanned vehicle tracking method and terminal based on fusion of UWB and GPS |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |