CN113156996A - Pod control adaptive gain method for target tracking - Google Patents

Pod control adaptive gain method for target tracking Download PDF

Info

Publication number
CN113156996A
CN113156996A CN202110466805.5A CN202110466805A CN113156996A CN 113156996 A CN113156996 A CN 113156996A CN 202110466805 A CN202110466805 A CN 202110466805A CN 113156996 A CN113156996 A CN 113156996A
Authority
CN
China
Prior art keywords
target
image
initial position
nacelle
pod
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.)
Granted
Application number
CN202110466805.5A
Other languages
Chinese (zh)
Other versions
CN113156996B (en
Inventor
林德福
沈灏
宋韬
莫雳
王江
王伟
李斌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Institute of Technology BIT
Original Assignee
Beijing Institute of Technology BIT
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Beijing Institute of Technology BIT filed Critical Beijing Institute of Technology BIT
Priority to CN202110466805.5A priority Critical patent/CN113156996B/en
Publication of CN113156996A publication Critical patent/CN113156996A/en
Application granted granted Critical
Publication of CN113156996B publication Critical patent/CN113156996B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • 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)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Studio Devices (AREA)
  • Image Analysis (AREA)

Abstract

The invention discloses a pod control adaptive gain method for target tracking, which comprises the following steps: s1, searching a target in the image acquired by the photoelectric sensor to obtain the initial position of the target; s2, acquiring the target position in the new frame image, determining a negative feedback adjustment variable of the nacelle, and acquiring the expected angular speed of the nacelle operation; s3, enabling the pod to rotate according to the expected rotation angular speed, enabling the photoelectric sensor to track the movement of the target, and enabling the photoelectric sensor to continuously shoot; and S4, repeating the steps S2-S3, and realizing that the photoelectric sensor continuously tracks and collects images containing the target. The method disclosed by the invention solves the contradiction dilemma of gain selection caused by the coupling of the target tracking visual algorithm and pod control, and the problem of target loss caused by too fast pod rotation is not easy to occur.

Description

Pod control adaptive gain method for target tracking
Technical Field
The invention relates to a pod control method, in particular to a pod control adaptive gain method for tracking a ground target, and belongs to the field of tracking control.
Background
The pod tracking target process generally comprises: the photoelectric sensor continuously collects images, the collected images are identified through a target tracking algorithm, coordinates of the target in the images are sent to the nacelle after the target is found, the nacelle carries out negative feedback rotation according to the coordinates to adjust the orientation position of the photoelectric sensor, the target is locked in the center of the collected images as much as possible, and therefore visual tracking of the target is achieved.
However, when the pod performs negative feedback adjustment according to the target coordinate, if the gain k is too small, when the target moves rapidly, the steering speed of the pod is lower than the target moving speed, so that tracking fails, and the target moves out of the visual field, therefore, the gain k should be greater than a lower limit, which is denoted as a.
If the gain k is too large, when the target is far away from the center of the visual field, the pod will turn around quickly, causing the position of the target in the image coordinate system to be "suddenly changed", usually, the target tracking algorithm is not a full-image search, but a search is performed in a neighboring area with the target position and the target size being several times of the previous frame, when the position of the target in the image is suddenly changed, the tracking failure is caused, this problem is called "camera shake" in the field of research of the target tracking algorithm, and the target is "thrown away" by the photoelectric sensor in the pod due to the "camera shake", causing the tracking failure, so the gain k should be less than an upper limit, which is marked as b.
Due to the coupling of the target tracking visual algorithm and the nacelle control, the gain of the nacelle control is difficult to adjust, P & gt a and P & lt b need to be satisfied, and further, when b & lt a, the gain of the nacelle has no solution.
For the above reasons, the present inventors have conducted intensive studies on the conventional pod control method and have proposed a target tracking pod control adaptive gain method.
Disclosure of Invention
In order to overcome the above problems, the present inventors have conducted intensive studies and devised
Specifically, the invention aims to provide a pod control adaptive gain method for target tracking, which comprises the following steps:
s1, searching a target in the image acquired by the photoelectric sensor to obtain the initial position of the target;
s2, acquiring the target position in the new frame image, determining a negative feedback adjustment variable of the nacelle, and acquiring the expected angular speed of the nacelle operation;
s3, enabling the pod to rotate according to the expected rotation angular speed, enabling the photoelectric sensor to track the movement of the target, and enabling the photoelectric sensor to continuously shoot;
and S4, repeating the steps S2-S3, and realizing that the photoelectric sensor continuously tracks and collects images containing the target.
Further, in step S1, the target is continuously searched in the image captured by the photosensor through the visual tracking algorithm, and when the target is searched, the image frame where the target is initially searched is taken as an initial frame, and the position of the target in the initial frame is referred to as a target initial position.
Further, in step S2, when the target position in the new frame image is acquired, only the neighboring area of the new frame image is searched,
the adjacent area is an area which takes a plurality of times of the size of the target as a radius by taking the target position of the previous frame image as the center, and the target size is the coordinate area occupied by the target in the previous frame image.
In a preferred embodiment, the radius of the neighboring region is not more than 2 times the target size.
Further, in step S2, the obtaining of the pod negative feedback adjustment variable includes the sub-steps of:
s21, linearizing a machine eye line angle;
s22, decomposing the position of the target in the image into a target initial position and a target relative initial position change amount;
and S23, adding an inertia link to the initial position of the target, and taking the output of the inertia link and the change amount of the target relative to the initial position as negative feedback regulation variables of the nacelle to obtain the expected angular speed of the nacelle operation.
Further, in step S21, the linearized target line of sight angle is the position of the target in the image, which is the coordinate of the target in the image coordinate system relative to the image center point, in place of the machine eye line of sight angle.
Further, in step S23, an inertia element is added to the initial position of the target, the output of the inertia element and the amount of change of the initial position of the target are used as negative feedback adjustment variables of the pod, and the position error of the target in the image is obtained after passing through the inertia element again, so as to obtain the desired rotation angular velocity of the pod.
8. The target-tracking pod control adaptive gain method of claim 5,
the position error of the target in the image is expressed as:
Figure BDA0003044433140000031
wherein y(s) represents the position error of the target in the image, s represents a complex variable, kpRepresenting the negative feedback adjustment gain factor, xtIndicating the position, x, of the current frame of the object0Indicating the initial position of the target, xt-x0Indicating the amount of change in the target relative to the initial position.
The invention has the advantages that:
(1) the contradiction dilemma of gain selection caused by the coupling of a target tracking visual algorithm and pod control is solved;
(2) the nacelle rotates more smoothly, and the problem of target loss caused by too fast rotation of the nacelle is not easy to occur;
(3) the target can be always locked in a position close to the center of the visual field.
Drawings
FIG. 1 shows a schematic flow diagram of a pod control adaptive gain method for target tracking according to a preferred embodiment of the present invention;
FIG. 2 shows a position curve of an object with respect to an image coordinate origin in embodiment 1;
FIG. 3 is a graph showing the target position changing speed in embodiment 1;
FIG. 4 shows a graph of the speed of change of pixel position in an image of an object in comparative example 1;
FIG. 5 is a diagram showing the effect of target locking in embodiment 1;
FIG. 6 is a diagram showing the effect of target locking in embodiment 1;
FIG. 7 is a diagram showing the effect of target locking in embodiment 1;
Detailed Description
The invention is explained in more detail below with reference to the figures and examples. The features and advantages of the present invention will become more apparent from the description.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The invention provides a pod control adaptive gain method for target tracking, which comprises the following steps:
s1, searching a target in the image acquired by the photoelectric sensor to obtain the initial position of the target;
s2, acquiring the target position in the new frame image, determining a negative feedback adjustment variable of the nacelle, and acquiring the expected angular speed of the nacelle operation;
s3, enabling the pod to rotate according to the expected rotation angular speed, enabling the photoelectric sensor to track the movement of the target, and enabling the photoelectric sensor to continuously shoot;
and S4, repeating the steps S2-S3, and realizing that the photoelectric sensor continuously tracks and collects images containing the target.
In the invention, the pod refers to a photoelectric pod, and a photoelectric sensor is mounted on the photoelectric pod and used for shooting and acquiring image information.
In the present invention, the type of the photoelectric sensor is not particularly limited, and may be a visible light camera, an infrared camera, or the like as long as an image can be captured.
Further, in step S1, the target is continuously searched in the image captured by the photosensor through the visual tracking algorithm, and when the target is searched, the image frame where the target is initially searched is taken as an initial frame, and the position of the target in the initial frame is referred to as a target initial position.
Further, searching a target in an image acquired by the photoelectric sensor, clicking and determining by a ground station worker after the target is found, and obtaining the initial position of the target in an initial frame through a visual tracking algorithm
Preferably, an image coordinate system is established with the center of the image as the origin and the length in pixels, and the position of the object is expressed in coordinates of the object in the image.
In the present invention, the visual tracking algorithm is not particularly limited, and may be any known visual tracking algorithm, such as the SiamRPN tracking algorithm and the DaSiamRPN tracking algorithm.
In step S2, after the position of the target in the initial frame is obtained, the image subsequently acquired by the photosensor is continuously searched through the visual tracking algorithm, and the position of the target in the image of the new frame is obtained.
Preferably, the target position is obtained through a visual tracking algorithm, when the target position in a new frame of image is obtained through the visual tracking algorithm, the visual tracking algorithm does not search all areas of the new frame of image, and only searches the adjacent area of the new frame of image, so that the identification range is reduced, and the searching efficiency is improved.
Further, the neighboring region is a region having a radius of several times of the target size, preferably a region having a radius of 2 times of the target size, and more preferably a region having a radius of less than 2 times of the target size, with the target position of the previous frame image as the center, and the target size is a coordinate area occupied by the target in the previous frame image.
The traditional nacelle negative feedback adjustment variable is generally a machine eye sight angle, and the expected angular speed of nacelle operation can be obtained after the machine eye sight angle passes through a typical inertia link.
Further, the machine vision angle refers to an included angle between the direction in which the nacelle and the medium photoelectric sensor face and the direction of the target relative to the nacelle.
In the invention, the obtaining of the nacelle negative feedback adjustment variable comprises the sub-steps of:
s21, linearizing a machine eye line angle;
s22, decomposing the position of the target in the image into a target initial position and a target relative initial position change amount;
and S23, adding an inertia link to the initial position of the target, and taking the output of the inertia link and the change amount of the target relative to the initial position as negative feedback regulation variables of the nacelle to obtain the expected angular speed of the nacelle operation.
In step S21, the linearized target viewing angle is obtained by replacing the traditional machine viewing angle with the position of the target in the image, and since the machine viewing angle and the position of the target in the image are in a direct proportion relationship, the obtained result is the same during negative feedback adjustment, and the influence caused by different dimensions can be ignored, so that the calculation process is simplified by linearizing the machine viewing angle, and the operation efficiency is improved.
Further, the position of the target in the image refers to the coordinates of the target in the image coordinate system relative to the image center point, i.e. the image origin.
In step S22, in conjunction with the target initial position obtained in step S1, the decomposition of the target position in the new frame image into a target initial position and a target relative initial position change amount can be expressed as:
xt＝x0+(xt-x0)
wherein x istIndicating the position, x, of the current frame of the object0Indicating the initial position of the target, xt-x0Indicating the relative initial position of the targetThe amount of change.
In step S23, the target initial position x is set0And (3) adding an inertia link, taking the output of the inertia link and the relative initial position change of the target as a negative feedback regulation variable of the pod, and obtaining the position error of the target in the image after passing through the inertia link again so as to further obtain the expected rotation angular speed of the pod, wherein the position error of the target in the image can be expressed as:
Figure BDA0003044433140000071
wherein y(s) represents the position error of the target in the image, s represents a complex variable, kpShowing the negative feedback adjustment gain factor, can be set by those skilled in the art according to actual needs.
In the present invention, for the target initial position x0And an inertia link is added, so that the rotation of the nacelle is smoother.
In step S4, repeating steps S2 to S3 enables the photosensor to continuously track and acquire an image containing a target, where the target is always located in a neighboring area centered at the target position in the previous frame of image.
According to the method, the problem of 'camera shake' in the target tracking algorithm can be solved, so that the area of a neighbor region in the target tracking algorithm can be reduced to a certain extent, further, the large computational power is reduced, the computational efficiency is improved, and the energy is saved.
Examples
Example 1
Carrying out simulation experiments under the following simulation conditions: the unmanned aerial vehicle tracks a 4-meter-long automobile on the ground, the speed of the automobile is 108km/h, the pixels of an image collected by a pod-mounted camera are 1920 x 1080, and the frequency of the camera is 30 HZ. An image coordinate system is established by taking the center of the image as an origin and taking the length of pixels as a unit, the target initial position coordinate is (700, 0), and the automobile occupies 50 pixels in the image.
Pod control is performed by:
s1, searching a target in the image acquired by the photoelectric sensor to obtain the initial position of the target in an initial frame;
and S2, acquiring the target position in the new frame image by a target tracking algorithm, determining negative feedback regulating variables of the nacelle, and acquiring the expected angular speed of the nacelle operation.
S3, enabling the pod to rotate according to the expected rotation angular speed, enabling the photoelectric sensor to track the movement of the target, and enabling the photoelectric sensor to continuously shoot, so that the next frame of image is obtained;
and S4, repeating the steps S2-S3 to enable the target to be always within the range of the image acquired by the photoelectric sensor.
In step S2, only the neighboring area of 2 times the target size is searched for a new frame.
After the target tracking algorithm obtains the target position in the new frame of image, decomposing the target position in the new frame of image into a target initial position x0And the target relative initial position change amount xt-x0。
For target initial position x0Adding inertia element, and changing the output of inertia element and the initial position of target by xt-x0And the position errors are used as negative feedback regulating variables of the nacelle, the position error of the target in the image is obtained after the inertia link is performed again, the expected rotation angular speed of the nacelle is further obtained, and the position error of the target in the image is as follows:
Figure BDA0003044433140000081
wherein k ispSet to 15.
The resulting position curve of the target with respect to the origin of coordinates of the image is shown in fig. 2, and the target position change speed curve is shown in fig. 3.
As can be seen from fig. 2 and 3, the method can meet the requirements that the change speed of the target position is not too high, and the target is locked when the target moves at a high speed, and the locking effect is as shown in fig. 4 to 6.
Comparative example 1
The same simulation experiment as that of the embodiment 1 is carried out, except that a traditional machine vision angle is adopted as a negative feedback regulating variable of the nacelle, and the machine vision angle obtains the expected angular speed of the nacelle operation through an inertia link, wherein the closed loop transfer function of the inertia link is as follows:
Figure BDA0003044433140000091
where T is a time constant, gain kpSet to 15.
The simulation result of the speed of change of the pixel position of the object in the image is shown in fig. 7. As can be seen from fig. 7, in the image taken by the pod-driven video camera in the method, the maximum speed is close to 7000 pixels per second, and the frequency of the camera is 30HZ, that is, the target position of each frame of image changes by more than 200 pixels, because the visual tracking algorithm searches for the neighboring region of the target position of the previous frame and the target size 2 times, the position of the target in the frame at this time already exceeds the search region (100 pixels), and finally the tracking failure is caused.
Example 2
A penetration EOT-90A3 photoelectric pod is carried on an unmanned aerial vehicle, a 4-meter-long automobile on the ground is tracked, the speed of the automobile is about 80km/h, the pixels of an image collected by a video camera carried by the pod are 1920 x 1080, and the frequency of the camera is 30 HZ. The ground station detects the target by using a Yolov5 target detection algorithm, and an image processing unit carried on the airplane runs a SimRPN target tracking algorithm.
Pod control is performed by:
s1, searching a target in the image acquired by the photoelectric sensor to obtain the initial position of the target in an initial frame;
and S2, acquiring the target position in the new frame image, determining negative feedback regulating variables of the nacelle, and acquiring the expected angular speed of the nacelle operation.
S3, enabling the pod to rotate according to the expected rotation angular speed, enabling the photoelectric sensor to track the movement of the target, and enabling the photoelectric sensor to continuously shoot, so that the next frame of image is obtained;
and S4, repeating the steps S2-S3 to enable the target to be always within the range of the image acquired by the photoelectric sensor.
In step S1, the image center is used as an origin, an image coordinate system is established with pixels as unit lengths, a target is searched in an image collected by the photoelectric sensor, a ground station worker clicks and determines after finding the target, and the initial position of the target in an initial frame is obtained through a visual tracking algorithm.
In step S2, only the neighboring area of 2 times the target size is searched for a new frame.
After the target tracking algorithm obtains the target position in the new frame of image, decomposing the target position in the new frame of image into a target initial position x0And the target relative initial position change amount xt-x0。
For target initial position x0Adding inertia element, and changing the output of inertia element and the initial position of target by xt-x0And the negative feedback adjustment variables are used as the negative feedback adjustment variables of the nacelle, and the expected rotation angular speed of the nacelle is obtained after the inertia link is carried out again:
Figure BDA0003044433140000101
wherein k ispSet to 15.
The method can meet the requirements that the change speed of the target position is not too high, and the target can be locked when the target moves at a high speed, the locking effect is shown in figures 4-6, and it can be seen that the method can always lock the target at the position of the visual field close to the center.
The invention has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to be construed in a limiting sense. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, which fall within the scope of the present invention.

Claims (8)

1. A pod control adaptive gain method for target tracking, the method comprising the steps of:
s1, searching a target in the image acquired by the photoelectric sensor to obtain the initial position of the target;
s2, acquiring the target position in the new frame image, determining a negative feedback adjustment variable of the nacelle, and acquiring the expected angular speed of the nacelle operation;
s3, enabling the pod to rotate according to the expected rotation angular speed, enabling the photoelectric sensor to track the movement of the target, and enabling the photoelectric sensor to continuously shoot;
and S4, repeating the steps S2-S3, and realizing that the photoelectric sensor continuously tracks and collects images containing the target.
2. The target-tracking pod control adaptive gain method of claim 1,
in step S1, a target is continuously searched for in the image captured by the photosensor through the visual tracking algorithm, and when the target is searched for, an image frame in which the target is initially searched for is taken as an initial frame, and a position of the target in the initial frame is referred to as a target initial position.
3. The target-tracking pod control adaptive gain method of claim 1,
in step S2, when the target position in the new frame image is acquired, only the neighboring area of the new frame image is searched,
the adjacent area is an area which takes a plurality of times of the size of the target as a radius by taking the target position of the previous frame image as the center, and the target size is the coordinate area occupied by the target in the previous frame image.
4. The target-tracking pod control adaptive gain method of claim 3,
the radius of the neighboring region is no greater than 2 target sizes.
5. The target-tracking pod control adaptive gain method of claim 1,
in step S2, the obtaining of the pod negative feedback adjustment variable includes the sub-steps of:
s21, linearizing a machine eye line angle;
s22, decomposing the position of the target in the image into a target initial position and a target relative initial position change amount;
and S23, adding an inertia link to the initial position of the target, and taking the output of the inertia link and the change amount of the target relative to the initial position as negative feedback regulation variables of the nacelle to obtain the expected angular speed of the nacelle operation.
6. The target-tracking pod control adaptive gain method of claim 5,
in step S21, the linearized target viewing angle is the position of the target in the image relative to the coordinates of the center point of the image in the image coordinate system, instead of the machine viewing angle.
7. The target-tracking pod control adaptive gain method of claim 5,
in step S23, an inertia element is added to the target initial position, the output of the inertia element and the target relative initial position change are used as the nacelle negative feedback adjustment variable, and the position error of the target in the image is obtained after passing through the inertia element again, so as to obtain the desired rotation angular velocity of the nacelle.
8. The target-tracking pod control adaptive gain method of claim 5,
the position error of the target in the image is expressed as:
Figure FDA0003044433130000021
wherein y(s) represents the position error of the target in the image, s represents a complex variable, kpRepresenting the negative feedback adjustment gain factor, xtIndicating the position, x, of the current frame of the object0Indicating the initial position of the target, xt-x0Indicating the amount of change in the target relative to the initial position.
CN202110466805.5A 2021-04-28 2021-04-28 Pod control adaptive gain method for target tracking Active CN113156996B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110466805.5A CN113156996B (en) 2021-04-28 2021-04-28 Pod control adaptive gain method for target tracking

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110466805.5A CN113156996B (en) 2021-04-28 2021-04-28 Pod control adaptive gain method for target tracking

Publications (2)

Publication Number Publication Date
CN113156996A true CN113156996A (en) 2021-07-23
CN113156996B CN113156996B (en) 2022-12-23

Family

ID=76871835

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110466805.5A Active CN113156996B (en) 2021-04-28 2021-04-28 Pod control adaptive gain method for target tracking

Country Status (1)

Country Link
CN (1) CN113156996B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117572885A (en) * 2023-11-20 2024-02-20 鸣飞伟业技术有限公司 Night tracking method, system and related device based on thermal infrared camera of unmanned aerial vehicle

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5406328A (en) * 1993-09-28 1995-04-11 Hughes Aircraft Company Adaptive track loop bandwidth reduction in cluttered scenes
CN106595668A (en) * 2016-12-12 2017-04-26 中国航空工业集团公司洛阳电光设备研究所 Passive location algorithm for electro-optical pod
CN107390522A (en) * 2017-07-11 2017-11-24 中国科学院光电技术研究所 A kind of error observation feed forward control method of view-based access control model tracking
CN109831600A (en) * 2019-02-27 2019-05-31 中国科学院光电技术研究所 A kind of method that photoelectric follow-up avoids picture from moving during target approaches
CN110400330A (en) * 2019-08-13 2019-11-01 湖南海迅自动化技术有限公司 Photoelectric nacelle image tracking method and tracking system based on fusion IMU
CN110660085A (en) * 2019-09-29 2020-01-07 凯迈（洛阳）测控有限公司 Real-time video image moving target detection and stable tracking method suitable for photoelectric pod
CN111427386A (en) * 2020-04-16 2020-07-17 中国科学院光电技术研究所 Photoelectric equipment rapid turning method combining bang-bang control and overshoot-free prediction control

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5406328A (en) * 1993-09-28 1995-04-11 Hughes Aircraft Company Adaptive track loop bandwidth reduction in cluttered scenes
CN106595668A (en) * 2016-12-12 2017-04-26 中国航空工业集团公司洛阳电光设备研究所 Passive location algorithm for electro-optical pod
CN107390522A (en) * 2017-07-11 2017-11-24 中国科学院光电技术研究所 A kind of error observation feed forward control method of view-based access control model tracking
CN109831600A (en) * 2019-02-27 2019-05-31 中国科学院光电技术研究所 A kind of method that photoelectric follow-up avoids picture from moving during target approaches
CN110400330A (en) * 2019-08-13 2019-11-01 湖南海迅自动化技术有限公司 Photoelectric nacelle image tracking method and tracking system based on fusion IMU
CN110660085A (en) * 2019-09-29 2020-01-07 凯迈（洛阳）测控有限公司 Real-time video image moving target detection and stable tracking method suitable for photoelectric pod
CN111427386A (en) * 2020-04-16 2020-07-17 中国科学院光电技术研究所 Photoelectric equipment rapid turning method combining bang-bang control and overshoot-free prediction control

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
侯宏录等: "模糊 PID 控制在光电跟踪控制系统中的应用", 《光电工程》 *
刘伟: "飞艇光电探测器稳定平台控制系统研究", 《信息科技辑》 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117572885A (en) * 2023-11-20 2024-02-20 鸣飞伟业技术有限公司 Night tracking method, system and related device based on thermal infrared camera of unmanned aerial vehicle

Also Published As

Publication number Publication date
CN113156996B (en) 2022-12-23

Similar Documents

Publication Publication Date Title
CN101790048B (en) Intelligent camera system and method
US8699748B2 (en) Tracking system and method for regions of interest and computer program product thereof
CN108363946B (en) Face tracking system and method based on unmanned aerial vehicle
US9955074B2 (en) Target tracking method and system for intelligent tracking high speed dome camera
WO2017185503A1 (en) Target tracking method and apparatus
CN109102525B (en) Mobile robot following control method based on self-adaptive posture estimation
CN110764537B (en) Automatic tripod head locking system and method based on motion estimation and visual tracking
CN105096346B (en) A kind of moving target shooting processing system of stabilization
CN104811667A (en) Unmanned aerial vehicle target tracking method and system
CN103079037B (en) Self-adaptive electronic image stabilization method based on long-range view and close-range view switching
US20220137648A1 (en) Method and apparatus for tracking moving target and unmanned aerial vehicle
CN106254836A (en) Unmanned plane infrared image Target Tracking System and method
CN112653844A (en) Camera holder steering self-adaptive tracking adjustment method
CN110619276B (en) Anomaly and violence detection system and method based on unmanned aerial vehicle mobile monitoring
CN113156996B (en) Pod control adaptive gain method for target tracking
CN107509055A (en) A kind of rotary panorama focus identification optronic tracker and its implementation
CN104820435A (en) Quadrotor moving target tracking system based on smart phone and method thereof
CN113743286A (en) Target monitoring system and method for multi-source signal fusion
CN205490869U (en) Motion target is caught and tracking device
CN113438399B (en) Target guidance system, method for unmanned aerial vehicle, and storage medium
CN116342642A (en) Target tracking method, device, electronic equipment and readable storage medium
CN116168306A (en) Unmanned aerial vehicle video target tracking method based on region re-search
CN112689084A (en) Airborne photoelectric reconnaissance imaging system and electronic image stabilization method
Yang et al. Learning spatial-corrected regularized correlation filters for visual tracking
Han et al. An approach of fast mosaic for serial remote sensing images from uav

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
GR01 Patent grant
GR01 Patent grant