CN115984333A - Smooth tracking method and device for airplane target - Google Patents
Smooth tracking method and device for airplane target Download PDFInfo
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Abstract
The invention discloses a smooth tracking method and a smooth tracking device for an airplane target. Wherein, the method comprises the following steps: acquiring airplane tracking information and tracking parameters; generating expected data according to the tracking parameters and the smooth matching matrix; performing exponential smoothing processing on the aircraft tracking information to obtain smooth target data; and obtaining final tracking data through fitting calculation of the smooth target data and the expected data. The invention solves the problem that the prior art generally enables the target to be positioned in the center of a video window as much as possible, keeps the size unchanged and is equivalent to follow-up shooting in live television broadcasting. Because the position and the size of the target detected by the image detection algorithm may have errors, if the detected position and the detected size are directly and simply used, the target can have severe shaking, and even if the target is processed by filtering algorithms such as Kalman and the like, the shaking cannot be completely eliminated, so that the technical problem of poor visual experience effect is solved.
Description
Technical Field
The invention relates to the field of image target tracking, in particular to a method and a device for smoothly tracking an aircraft target.
Background
Along with the continuous development of intelligent science and technology, people use intelligent equipment more and more among life, work, the study, use intelligent science and technology means, improved the quality of people's life, increased the efficiency of people's study and work.
At present, in a moving object tracking process, a moving object detected in a video, such as an airplane, is followed and displayed by using a video, namely, the object is positioned in the center of a video window as much as possible, the size of the object is kept unchanged, and the method is equivalent to follow shooting in live television broadcasting. Because the position and the size of the target detected by the image detection algorithm may have errors, if the detected position and the detected size are directly and simply used, the target can have severe shaking, even if the target is processed by filtering algorithms such as Kalman and the like, the shaking cannot be completely eliminated, and the visual experience effect is poor.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a smooth tracking method and a smooth tracking device for an airplane target, which at least solve the problem that the target is usually positioned in the center of a video window as much as possible and is kept unchanged in size in the prior art, and the method is equivalent to follow-up shooting in live television broadcasting. Because the position and the size of the target detected by the image detection algorithm may have errors, if the detected position and the detected size are directly and simply used, the target can have severe shaking, and even if the target is processed by filtering algorithms such as Kalman and the like, the shaking cannot be completely eliminated, so that the technical problem of poor visual experience effect is solved.
According to an aspect of the embodiments of the present invention, there is provided an aircraft target smooth tracking method, including: acquiring airplane tracking information and tracking parameters; generating expected data according to the tracking parameters and the smooth matching matrix; performing exponential smoothing processing on the aircraft tracking information to obtain smooth target data; and obtaining final tracking data through fitting calculation of the smooth target data and the expected data.
Optionally, the tracking parameters include: a desired destination parameter, a desired smoothness parameter.
Optionally, the generating expected data according to the tracking parameters and the smooth matching matrix includes: obtaining the smooth matching matrix representing the aircraft tracking expectation, wherein the smooth matching matrix is a binary point-to-point uniqueness matrix; and inputting the tracking parameters into the smooth matching matrix and outputting the expected data.
Optionally, the obtaining final tracking data through fitting calculation of the smoothed target data and the expected data includes: extracting a smoothness parameter from the expected data; comparing the smoothness degrees of all targets in the smooth target data with the smoothness degree parameter to obtain the smooth target data closest to the smoothness degree parameter; and selecting the final tracking data according to the smooth target data.
According to another aspect of the embodiments of the present invention, there is also provided an aircraft target smooth tracking apparatus, including: the acquisition module is used for acquiring airplane tracking information and tracking parameters; the generating module is used for generating expected data according to the tracking parameters and the smooth matching matrix; the processing module is used for performing exponential smoothing processing on the aircraft tracking information to obtain smooth target data; and the calculation module is used for obtaining final tracking data through fitting calculation of the smooth target data and the expected data.
Optionally, the tracking parameters include: a desired destination parameter, a desired smoothness parameter.
Optionally, the generating module includes: the obtaining unit is used for obtaining the smooth matching matrix representing the aircraft tracking expectation, wherein the smooth matching matrix is a binary point-to-point uniqueness matrix; and the output unit is used for inputting the tracking parameters into the smooth matching matrix and outputting the expected data.
Optionally, the calculation module includes: an extracting unit configured to extract a smoothing degree parameter in the desired data; a comparing unit, configured to compare the smoothness of all the targets in the smoothed target data with the smoothness parameter, so as to obtain the smoothed target data closest to the smoothness parameter; and the selecting unit is used for selecting the final tracking data according to the smooth target data.
According to another aspect of the embodiments of the present invention, there is also provided a non-volatile storage medium, which includes a stored program, wherein the program controls a device in which the non-volatile storage medium is located to execute a method for smoothly tracking an aircraft target when running.
According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including a processor and a memory; the memory has stored therein computer readable instructions, and the processor is configured to execute the computer readable instructions, wherein the computer readable instructions when executed perform a method for smooth tracking of an aircraft target.
In the embodiment of the invention, the method comprises the steps of acquiring airplane tracking information and tracking parameters; generating expected data according to the tracking parameters and the smooth matching matrix; performing exponential smoothing processing on the aircraft tracking information to obtain smooth target data; the method for obtaining the final tracking data through the fitting calculation of the smooth target data and the expected data solves the problem that in the prior art, the target is usually positioned in the center of a video window as much as possible, the size of the target is kept unchanged, and the method is equivalent to follow-up shooting in live television broadcasting. Because the position and the size of the target detected by the image detection algorithm may have errors, if the detected position and the detected size are directly and simply used, the target can have severe shaking, and even if the target is processed by filtering algorithms such as Kalman and the like, the shaking cannot be completely eliminated, so that the technical problem of poor visual experience effect is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:
FIG. 1 is a flow chart of a method for smooth tracking of an aircraft target according to an embodiment of the invention;
FIG. 2 is a block diagram of an aircraft target smooth tracking device according to an embodiment of the invention;
fig. 3 is a block diagram of a terminal device for performing a method according to the present invention, according to an embodiment of the present invention;
fig. 4 is a memory unit for holding or carrying program code implementing a method according to the invention, according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present invention, there is provided a method embodiment of an aircraft target smooth tracking method, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than that presented herein.
Example one
Fig. 1 is a flowchart of an aircraft target smooth tracking method according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:
and S102, acquiring airplane tracking information and tracking parameters.
Specifically, the embodiment of the invention aims to solve the problem that in the prior art, the target is usually positioned in the center of a video window as much as possible, and the size of the target is kept unchanged, which is equivalent to follow-up shooting in live television broadcasting. The method comprises the steps that the position and the size of a target detected by an image detection algorithm are possibly in error, so that if the detected position and the detected size are directly and simply used, the target can be severely shaken, even if the target is processed by filtering algorithms such as Kalman and the like, the shaking cannot be completely eliminated, and the technical problem of poor visual experience effect is solved.
Optionally, the tracking parameters include: a desired destination parameter, a desired smoothness parameter.
Specifically, the tracking parameters in the embodiment of the present invention include two tracking parameters, but are not limited to only the two tracking parameters, where the expected target parameter represents a tracking target function preset in the flight process of the aircraft, how to track an object, how large a tracking range is, and the like, and in addition, the expected smoothness parameter is also one of the tracking parameters, and this parameter represents smoothness requirement information of the aircraft in flight for tracking a target.
And step S104, generating expected data according to the tracking parameters and the smooth matching matrix.
Optionally, the generating expected data according to the tracking parameters and the smooth matching matrix includes: obtaining the smooth matching matrix representing the aircraft tracking expectation, wherein the smooth matching matrix is a binary point-to-point uniqueness matrix; and inputting the tracking parameters into the smooth matching matrix and outputting the expected data.
Specifically, in order to obtain the expected data for performing the smooth tracking analysis in the embodiment of the present invention, the expected data for the data such as the smooth degree of the tracked target is further generated by using the tracking parameter of the aircraft, and is used as the standard for the smooth processing of the tracked target, so that the tracking information is conveniently smoothed in the subsequent process, and the tracking result is obtained. For example, obtaining the smooth matching matrix characterizing aircraft tracking expectations, wherein the smooth matching matrix is a binary point-to-point uniqueness matrix; and inputting the tracking parameters into the smooth matching matrix and outputting the expected data.
And S106, performing exponential smoothing processing on the aircraft tracking information to obtain smooth target data.
Specifically, after the aircraft tracking information is obtained, the aircraft tracking information needs to be subjected to smoothing index processing to obtain smooth target data, wherein an index smoothing method is a method commonly used in production prediction and is also used for predicting medium-short term economic development trends, and index smoothing is the most used method in all prediction methods. The simple full-term averaging method is to uniformly utilize all the past data of the time series in a leakage-free way; the moving average method does not consider more distant data and gives more weight to recent data in the weighted moving average method; the exponential smoothing method is a time series analysis prediction method developed on the basis of the moving average method, and predicts the future of a phenomenon by calculating an exponential smoothing value and matching with a certain time series prediction model. The principle is that the exponential smoothing value of any period is the weighted average of the actual observed value of the period and the exponential smoothing value of the previous period.
And step S108, obtaining final tracking data through fitting calculation of the smooth target data and the expected data.
Optionally, the obtaining final tracking data through the fitting calculation of the smoothed target data and the expected data includes: extracting a smoothness parameter from the expected data; comparing the smoothness degrees of all targets in the smooth target data with the smoothness degree parameter to obtain the smooth target data closest to the smoothness degree parameter; and selecting the final tracking data according to the smooth target data.
Specifically, in order to obtain the final tracking data of the aircraft, that is, to determine the final tracking target and the relevant parameters thereof, the embodiment of the present invention needs to extract the smoothing degree parameter in the expected data, and compare the smoothing degrees of all targets in the smoothing target data with the smoothing degree parameter according to the smoothing degree parameter to obtain the smoothing target data closest to the smoothing degree parameter, so as to select the final tracking data according to the smoothing target data.
Through the embodiment, the problem that the target is usually positioned in the center of a video window as much as possible and keeps the size unchanged in the prior art is solved, and the method is equivalent to follow-up shooting in live television broadcasting. Because the position and the size of the target detected by the image detection algorithm may have errors, if the detected position and size are directly and simply used, the target may have severe shaking, and even if the target is processed by filtering algorithms such as Kalman and the like, the shaking cannot be completely eliminated, so that the technical problem of poor visual experience effect is solved.
Example two
Fig. 2 is a block diagram of an aircraft target smooth tracking apparatus according to an embodiment of the present invention, and as shown in fig. 2, the apparatus includes:
and the obtaining module 20 is used for obtaining the airplane tracking information and the tracking parameters.
Specifically, the embodiment of the invention aims to solve the problem that in the prior art, the target is usually positioned in the center of a video window as much as possible, and the size of the target is kept unchanged, which is equivalent to follow-up shooting in live television broadcasting. The method comprises the steps that the position and the size of a target detected by an image detection algorithm are possibly in error, so that if the detected position and the detected size are directly and simply used, the target can be severely shaken, even if the target is processed by filtering algorithms such as Kalman and the like, the shaking cannot be completely eliminated, and the technical problem of poor visual experience effect is solved.
Optionally, the tracking parameters include: a desired destination parameter, a desired smoothness parameter.
Specifically, the tracking parameters in the embodiment of the present invention include two tracking parameters, but are not limited to only the two tracking parameters, where the expected objective parameter represents a tracking objective function preset by the aircraft during flight, how to track an object, how large a tracking range is, and the like, and the expected smoothness parameter is also one of the tracking parameters, and represents smoothness requirement information of the aircraft in flight for tracking a target.
And a generating module 22, configured to generate expected data according to the tracking parameters and the smooth matching matrix.
Optionally, the generating module includes: the obtaining unit is used for obtaining the smooth matching matrix representing the aircraft tracking expectation, wherein the smooth matching matrix is a binary point-to-point uniqueness matrix; and the output unit is used for inputting the tracking parameters into the smooth matching matrix and outputting the expected data.
Specifically, in order to obtain the expected data for performing the smooth tracking analysis in the embodiment of the present invention, the expected data for the data such as the smooth degree of the tracked target is further generated by using the tracking parameter of the aircraft, and is used as the standard for the smooth processing of the tracked target, so that the tracking information is conveniently smoothed in the subsequent process, and the tracking result is obtained. For example, obtaining the smooth matching matrix characterizing aircraft tracking expectation, wherein the smooth matching matrix is a binary point-to-point uniqueness matrix; and inputting the tracking parameters into the smooth matching matrix and outputting the expected data.
And the processing module 24 is configured to perform exponential smoothing processing on the aircraft tracking information to obtain smoothed target data.
Specifically, after the aircraft tracking information is obtained, smoothing index processing needs to be performed on the aircraft tracking information to obtain smoothed target data, wherein an index smoothing method is a method commonly used in production prediction and is also used for predicting medium-short term economic development trends, and index smoothing is the most used method in all prediction methods. The simple full-term averaging method is to utilize all the past data of the time series equally in a leakage-free way; the moving average method does not consider more distant data and gives more weight to recent data in the weighted moving average method; the exponential smoothing method is a time series analysis prediction method developed on the basis of the moving average method, and predicts the future of a phenomenon by calculating an exponential smoothing value and matching with a certain time series prediction model. The principle is that the exponential smoothing value of any period is the weighted average of the actual observed value of the current period and the exponential smoothing value of the previous period.
And a calculating module 26, configured to obtain final tracking data through fitting calculation between the smoothed target data and the expected data.
Optionally, the calculating module includes: an extracting unit configured to extract a smoothing degree parameter in the desired data; a comparing unit, configured to compare the smoothness of all the targets in the smoothed target data with the smoothness parameter, so as to obtain the smoothed target data closest to the smoothness parameter; and the selecting unit is used for selecting the final tracking data according to the smooth target data.
Specifically, in order to obtain the final tracking data of the aircraft, that is, to determine the final tracking target and the relevant parameters thereof, the embodiment of the present invention needs to extract the smoothing degree parameter in the expected data, and compare the smoothing degrees of all targets in the smoothing target data with the smoothing degree parameter according to the smoothing degree parameter to obtain the smoothing target data closest to the smoothing degree parameter, so as to select the final tracking data according to the smoothing target data.
Through the embodiment, the problem that the target is usually positioned in the center of a video window as much as possible and keeps the size unchanged in the prior art is solved, and the method is equivalent to follow-up shooting in live television broadcasting. Because the position and the size of the target detected by the image detection algorithm may have errors, if the detected position and the detected size are directly and simply used, the target can have severe shaking, and even if the target is processed by filtering algorithms such as Kalman and the like, the shaking cannot be completely eliminated, so that the technical problem of poor visual experience effect is solved.
According to another aspect of the embodiments of the present invention, there is also provided a non-volatile storage medium, which includes a stored program, wherein the program controls a device in which the non-volatile storage medium is located to execute a method for smoothly tracking an aircraft target when running.
Specifically, the method includes: acquiring airplane tracking information and tracking parameters; generating expected data according to the tracking parameters and the smooth matching matrix; performing exponential smoothing processing on the aircraft tracking information to obtain smooth target data; and obtaining final tracking data through fitting calculation of the smooth target data and the expected data. Optionally, the tracking parameters include: a desired destination parameter, a desired smoothness parameter. Optionally, the generating expected data according to the tracking parameters and the smooth matching matrix includes: obtaining the smooth matching matrix representing the aircraft tracking expectation, wherein the smooth matching matrix is a binary point-to-point uniqueness matrix; and inputting the tracking parameters into the smooth matching matrix and outputting the expected data. Optionally, the obtaining final tracking data through the fitting calculation of the smoothed target data and the expected data includes: extracting a smoothness parameter from the expected data; comparing the smoothness degrees of all targets in the smooth target data with the smoothness degree parameter to obtain the smooth target data closest to the smoothness degree parameter; and selecting the final tracking data according to the smooth target data.
According to another aspect of the embodiments of the present invention, there is also provided an electronic apparatus, including a processor and a memory; the memory has stored therein computer readable instructions for execution by the processor, wherein the computer readable instructions when executed perform a method for smooth tracking of an aircraft target.
Specifically, the method comprises the following steps: acquiring airplane tracking information and tracking parameters; generating expected data according to the tracking parameters and the smooth matching matrix; performing exponential smoothing processing on the aircraft tracking information to obtain smooth target data; and obtaining final tracking data through fitting calculation of the smooth target data and the expected data. Optionally, the tracking parameters include: a desired destination parameter, a desired smoothness parameter. Optionally, the generating expected data according to the tracking parameters and the smooth matching matrix includes: obtaining the smooth matching matrix representing the aircraft tracking expectation, wherein the smooth matching matrix is a binary point-to-point uniqueness matrix; and inputting the tracking parameters into the smooth matching matrix and outputting the expected data. Optionally, the obtaining final tracking data through the fitting calculation of the smoothed target data and the expected data includes: extracting a smoothness parameter from the expected data; comparing the smoothness degrees of all targets in the smooth target data with the smoothness degree parameter to obtain the smooth target data closest to the smoothness degree parameter; and selecting the final tracking data according to the smooth target data.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be an indirect coupling or communication connection through some interfaces, units or modules, and may be electrical or in other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, fig. 3 is a schematic diagram of a hardware structure of a terminal device according to an embodiment of the present application. As shown in fig. 3, the terminal device may include an input device 30, a processor 31, an output device 32, a memory 33, and at least one communication bus 34. The communication bus 34 is used to realize communication connections between the elements. The memory 33 may comprise a high speed RAM memory, and may also include a non-volatile memory NVM, such as at least one disk memory, in which various programs may be stored for performing various processing functions and implementing the method steps of the present embodiment.
Alternatively, the processor 31 may be implemented by, for example, a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a controller, a microcontroller, a microprocessor, or other electronic components, and the processor 31 is coupled to the input device 30 and the output device 32 through a wired or wireless connection.
Optionally, the input device 30 may include a variety of input devices, for example, at least one of a user interface for a user, a device interface for a device, a programmable interface for software, a camera, and a sensor. Optionally, the device interface facing the device may be a wired interface for data transmission between devices, or may be a hardware plug-in interface (e.g., a USB interface, a serial port, etc.) for data transmission between devices; optionally, the user-facing user interface may be, for example, a user-facing control key, a voice input device for receiving voice input, and a touch sensing device (e.g., a touch screen with a touch sensing function, a touch pad, etc.) for receiving user touch input; optionally, the programmable interface of the software may be, for example, an entry for a user to edit or modify a program, such as an input pin interface or an input interface of a chip; optionally, the transceiver may be a radio frequency transceiver chip with a communication function, a baseband processing chip, a transceiver antenna, and the like. An audio input device such as a microphone may receive voice data. The output device 32 may include a display, a sound, or other output device.
In this embodiment, the processor of the terminal device includes a module for executing functions of each module of the data processing apparatus in each device, and specific functions and technical effects may be obtained by referring to the foregoing embodiments, which are not described herein again.
Fig. 4 is a schematic diagram of a hardware structure of a terminal device according to another embodiment of the present application. Fig. 4 is a specific embodiment of fig. 3 in an implementation process. As shown in fig. 4, the terminal device of the present embodiment includes a processor 41 and a memory 42.
The processor 41 executes the computer program code stored in the memory 42 to implement the method in the above-described embodiment.
The memory 42 is configured to store various types of data to support operations at the terminal device. Examples of such data include instructions for any application or method operating on the terminal device, such as messages, pictures, videos, and so forth. The memory 42 may include a Random Access Memory (RAM) and may also include a non-volatile memory (non-volatile at i-e memory), such as at least one disk memory.
Optionally, the processor 41 is provided in the processing assembly 40. The terminal device may further include: a communication component 43, a power component 44, a multimedia component 45, an audio component 46, an input/output interface 47 and/or a sensor component 48. The specific components included in the terminal device are set according to actual requirements, which is not limited in this embodiment.
The processing component 40 generally controls the overall operation of the terminal device. Processing component 40 may include one or more processors 41 to execute instructions to perform all or a portion of the steps of the above-described method. Further, processing component 40 may include one or more modules that facilitate interaction between processing component 40 and other components. For example, the processing component 40 may include a multimedia module to facilitate interaction between the multimedia component 45 and the processing component 40.
The power supply component 44 provides power to the various components of the terminal device. The power components 44 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the terminal device.
The multimedia component 45 includes a display screen that provides an output interface between the terminal device and the user. In some embodiments, the display screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the display screen includes a touch panel, the display screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.
The audio component 46 is configured to output and/or input audio signals. For example, the audio component 46 includes a Microphone (MIC) configured to receive external audio signals when the terminal device is in an operational mode, such as a voice recognition mode. The received audio signal may further be stored in the memory 42 or transmitted via the communication component 43. In some embodiments, audio assembly 46 also includes a speaker for outputting audio signals.
The input/output interface 47 provides an interface between the processing component 40 and peripheral interface modules, which may be click wheels, buttons, etc. These buttons may include, but are not limited to: a volume button, a start button, and a lock button.
The sensor assembly 48 includes one or more sensors for providing various aspects of status assessment for the terminal device. For example, the sensor assembly 48 may detect the open/closed status of the terminal device, the relative positioning of the components, the presence or absence of user contact with the terminal device. The sensor assembly 48 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact, including detecting the distance between the user and the terminal device. In some embodiments, the sensor assembly 48 may also include a camera or the like.
The communication component 43 is configured to facilitate communication between the terminal device and other devices in a wired or wireless manner. The terminal device may access a wireless network based on a communication standard, such as WiFi,2G or 3G, or a combination thereof. In one embodiment, the terminal device may include a SIM card slot for inserting a SIM card therein, so that the terminal device can log on to a GPRS network and establish communication with the server via the internet.
From the above, the communication component 43, the audio component 46, the input/output interface 47 and the sensor component 48 referred to in the embodiment of fig. 4 can be implemented as the input device in the embodiment of fig. 3.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and amendments can be made without departing from the principle of the present invention, and these modifications and amendments should also be considered as the protection scope of the present invention.
Claims (10)
1. An aircraft target smooth tracking method, characterized by comprising:
acquiring airplane tracking information and tracking parameters;
generating expected data according to the tracking parameters and the smooth matching matrix;
performing exponential smoothing processing on the aircraft tracking information to obtain smooth target data;
and obtaining final tracking data through fitting calculation of the smooth target data and the expected data.
2. The method of claim 1, wherein the tracking parameters comprise: a desired destination parameter, a desired smoothness parameter.
3. The method of claim 1, wherein generating desired data based on the tracking parameters and the smoothed matching matrix comprises:
obtaining the smooth matching matrix representing the aircraft tracking expectation, wherein the smooth matching matrix is a binary point-to-point uniqueness matrix;
and inputting the tracking parameters into the smooth matching matrix and outputting the expected data.
4. The method of claim 1, wherein the deriving final tracking data by fitting calculation of the smoothed target data and the expected data comprises:
extracting a smoothness parameter from the expected data;
comparing the smoothness degree of all targets in the smooth target data with the smoothness degree parameter to obtain the smooth target data closest to the smoothness degree parameter;
and selecting the final tracking data according to the smooth target data.
5. An aircraft target smooth tracking device, comprising:
the acquisition module is used for acquiring airplane tracking information and tracking parameters;
the generating module is used for generating expected data according to the tracking parameters and the smooth matching matrix;
the processing module is used for performing exponential smoothing processing on the aircraft tracking information to obtain smooth target data;
and the calculation module is used for obtaining final tracking data through fitting calculation of the smooth target data and the expected data.
6. The apparatus of claim 5, wherein the tracking parameters comprise: a desired destination parameter, a desired smoothness parameter.
7. The apparatus of claim 5, wherein the generating module comprises:
the obtaining unit is used for obtaining the smooth matching matrix representing the aircraft tracking expectation, wherein the smooth matching matrix is a binary point-to-point uniqueness matrix;
and the output unit is used for inputting the tracking parameters into the smooth matching matrix and outputting the expected data.
8. The apparatus of claim 5, wherein the computing module comprises:
an extracting unit configured to extract a smoothing degree parameter in the desired data;
a comparing unit, configured to compare the smoothness of all the targets in the smoothed target data with the smoothness parameter, so as to obtain the smoothed target data closest to the smoothness parameter;
and the selecting unit is used for selecting the final tracking data according to the smooth target data.
9. A non-volatile storage medium, comprising a stored program, wherein the program when executed controls an apparatus in which the non-volatile storage medium is located to perform the method of any one of claims 1 to 4.
10. An electronic device comprising a processor and a memory; the memory has stored therein computer readable instructions for execution by the processor, wherein the computer readable instructions when executed perform the method of any one of claims 1 to 4.
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