66results about How to "Improve tracking stability" patented technology

The invention discloses an echo fused target track association method based on track state estimation.The method comprises the steps of conducting polar coordinate sector partitioning, conducting track starting / updating, conducting track prepushing and associated sector calculation, and judging the state of the prepushed track in an associated sector according to a corrected target fusion threshold and setting the state of the track as non-fusion, pre-fusion or fusion.Different track association strategies are adopted for the three track states; track-trace point association is conducted on the non-fusion track with the conventional nearest neighbor method; track association is conducted on the pre-fusion track with the target feature information assisted nearest neighbor method; for the fusion track, within the fusion wave gate range, feature information is used as the main basis for track association after echo defusion, the fusion track and a track cluster are updated in real time, and the fusion track and the track cluster are deleted if the number of tracks in the track cluster is lower than 2.By the adoption of the method, the probability of mis-tracking or track losing after target fusion can be reduced, and tracking stability can be improved.

An objective optical system is formed of a diffractive optical element with a diffractive surface formed on a planar ‘virtual surface’ (i.e., a surface that would be planar but for the diffractive structure) and an objective lens for focusing three collimated light beams of three different wavelengths at three different numerical apertures onto desired positions of three different recording media with substrates of different thicknesses, such as an AOD, a DVD, and a CD, that introduce different amounts of spherical aberration in the focused beams. The objective optical system provides compensating spherical aberration to the three light beams while keeping equal the distance between the diffractive optical element and the objective lens, and focuses second-order diffracted light of one wavelength and first-order diffracted light of the other two wavelengths. An optical pickup device includes the objective optical system, the recording media, and a light source supplying the three light beams.

The invention discloses a self-adaptive cruise control method and device and an automatic driving vehicle. The self-adaptive cruise control method comprises the steps that current video information infront of a vehicle is collected; the transverse position of a front vehicle and a first relative speed relative to the vehicle are obtained according to the current video information; and a current position of the front vehicle is obtained according to the transverse position, the first relative speed, a longitudinal position obtained through a radar and a second relative speed relative to the vehicle, and the front vehicle is used as a following target vehicle of a self-adaptive cruise mode when the current vehicle speed of the current position and the front vehicle meets a preset followingcondition. According to the self-adaptive cruise control method, the transverse distance and transverse speed of the target vehicle are obtained according to the video information, so that the relative position of a front target and the vehicle advancing track is judged, rapid reaction is given to target vehicle cut-in / cut-out, the following stability of a self-adaptive cruise control system is improved, the reliability and safety of self-adaptive cruise are effectively ensured, and user experience is improved.

The embodiment of the invention provides a PTAM camera tracking method and device. The method comprises steps of: acquiring an estimated attitude of the camera at a current image frame according to image information input into the camera; projecting the three dimensional feature points of known positions in a real scene onto the image plane of the camera according to the estimated attitude of the camera at the current image frame, matching feature points by using an improved independent binary robust primary characteristic I-BRIEF algorithm, and computing the real attitude of the camera at the current image frame; matching the estimated attitude of the camera at the current image frame and the real attitude of the camera at the current image frame in order to acquires a matching result; and adjusting the attitude of the camera by using the matching result in order to achieve the image tracking of the camera. The method and the device may improve the tracking capability of a fast-moving camera system with variable light illumination and have high robustness.

The present invention provides a variable density cell tracking method based on a multi-mode ant colony system. The method comprises the steps of acquiring a plurality of frames of continuous original grey-scale maps of a variable density cell, selecting one frame of the original grey-scale map as a current frame, calculating an average likelihood score of pixels in the current frame of the original grey-scale map, and placing ants in regions where the cells might appear according to a calculation result, thus to obtain generator ant colony initial distribution. The method provided by the present invention has the beneficial effects that automatic tracking of cell density changing situations (especially a cell concentrating situation) caused by movements, collision and fission can be realized, all cyto-dynamics characteristic parameters such as a track and speed are given, and automatic tracking of variable density cells caused by entering or leaving a view can be realized.

The invention provides an FLL and subcarrier ring united frequency discrimination tracking loop which comprises a carrier tracking loop, a subcarrier tracking loop and a spreading code tracking loop. The carrier tracking loop comprises a carrier numerically-controlled oscillator, a mutual correlation processing unit, integral zero clearing units, a carrier loop frequency discriminator and an FLL loop filter. The subcarrier tracking loop comprises a subcarrier numerically-controlled oscillator, a mutual correlation processing unit, integral zero clearing units, a subcarrier loop phase discriminator and an SLL loop filter. The spreading code tracking loop comprises a numerically-controlled oscillator, a mutual correlation processing unit, integral zero clearing units, a code loop phase discriminator and a DLL loop filter. According to the structural characteristics of BOC signals, the FLL and subcarrier ring united frequency discrimination tracking loop can achieve independent tracking of the carrier frequency, the subcarrier phase and the spreading code phase, the tracking stability performance of weak signals is improved, the dynamic range of the loop is increased, and the problem of tracking ambiguity of the BOC signals under the low signal to noise ratio can be effectively solved.

The invention provides a particle swarm optimization based multi-cell position and outline synchronous accurate tracking system which comprises three main modules including a PSO based tracking module, a PSO based discovery module and a PSO based outline module. For existing-cell tracking, the PSO based tracking module obtains an initial state of a cell in a current frame on the basis of an existing-cell prior state, then calculates a cell outline through the PSO based outline module and meanwhile achieves accurate tracking by utilizing the iterative mass center updating process. For newly-emerging cell tracking, the PSO based discovery module discovers the position of a new cell in a whole image through appropriate particle swarm initialization and searching mechanism and further obtains the cell outline.

The invention relates to an object multi-mode tracking method based on a phased array system radar, wherein the method is mainly used for object tracking of a radar system. According to the method of the invention, a characteristic that a tracking task wave beam parameter of the phased array system radar can be compiled is utilized; a plurality of typical object tracking modes is arranged; and a matched mode is adaptively selected for tracking according to object tracking quality, object echo strength, object motility, clutter condition around the object and interference condition in the tracking process. The object multi-mode tracking method can improve object tracking stability and save radar resource. The object multi-mode tracking method has wide application prospect in a radar object tracking field.

The invention discloses a radar target tracking method based on environment situation analysis. The method comprises processing processes of polar coordinate sector division, sector drive tracking, target environment situation analysis, target matching association, target cleaning and target navigation establishment. A polar coordinate system is divided into sectoral regions of equal distance andorientation. When radar video data cross a predetermined orientation, a tracking module is driven to process the radar target data of a corresponding sector. Firstly, the environment situation analysis of a radar target is carried out, radar target environment situations are classified into three categories, namely, a security state, an early warning state and a fusion state, and then different tracking processing strategies are selected according to different environment situations of the radar target. Secondly, a target that meets a deletion criterion is deleted, and finally, points that arenot associated with the target are subjected to navigation establishment processing. The invention provides a target tracking processing strategy which has a certain effect on reducing false trackingand improving system tracking stability.

An objective optical system includes a diffractive optical element on the light source side of an objective lens for focusing incident light of three different wavelengths with two different numerical apertures onto three different optical recording media. The diffractive optical element is formed of two lens elements made of different materials that are cemented together at a diffractive surface. Three conditions are satisfied so as to achieve optimum imaging. The diffractive surface may be shaped so that the order of the diffracted light of the shortest wavelength λ2 having the largest diffracted intensity is different from the order of the diffracted light of the second wavelength λ2 having the largest diffracted intensity, and the order of the diffracted light of the first wavelength λ1 having the largest diffracted intensity is also different from the order of the diffracted light of the third wavelength λ3 having the largest diffracted intensity.

The invention generally relates to a system for generating and transmitting a telemetry formatted message containing raw Global Positioning System (GPS) information, processed Inertial Measurement Unit (IMU) information corresponding to the position and attitude of a high speed vehicle in motion. This telemetry formatted message is received on the ground and used to improve Kalman filter operation. In particular, the telemetry formatted message is used as an input to a ground based Kalman filter that is set to track and predict the trajectory of the high speed vehicle. The telemetry formatted message content improves the overall operation of the Kalman filter by preventing Kalman filter resets that occur when a bit error is encountered in the IMU data and improves the time correlation of high data rate IMU information and low data rate GPS information, both necessary for accurate tracking of the high speed vehicle.

The invention discloses an ant colony neighbor cell tracking system based on a cooperation and competition mode and application thereof. The system includes an initial ant colony distribution and rough classification module, a multi-ant-colony decision module and a fusion and deletion module. The initial ant colony distribution and rough classification module uses an approximate median method to extract a foreground image of cells so as to obtain initial ant colony distribution and then uses a K-mean-value clustering method to roughly divides the ant colony into N groups of sub-ant colonies. The multi-ant-colony decision module constructs a cell position estimation module, which is under the common action of N independent sub-pheromone fields and total pheromone fields, on the cooperation and competition mode. The fusion and deletion module performs multi-cell position estimation based on pheromone field construction through combination of similar sub-ant-colonies and removal of false targets caused by clutter and uses a nearest neighbor method which is easy to realize to perform cell correlation and obtain cell motion trails and kinetic parameters. The ant colony neighbor cell tracking system based on the cooperation and competition mode is capable of realizing neighbor multi-cell kinetic parameter estimation under a low-contrast-ratio cell image sequence, that is, under conditions that neighbor multi-cell kinetic characteristics are different, cells are deformed and time variance happens in cell number and the like, on the basis that no cell detection module or large quantity of cell training samples are needed, through cooperation and competition of an ant cluster system, problems of neighbor multi-cell multi-parameter estimation and tracking are solved.

The invention relates to a collaborative control and target tracking method based on mobile multi-agent formation. The research that a moving object is tracked in a formation mode by using multi-agentcontrol at present lacks. According to the collaborative control and target tracking method, a target motion state is estimated and calculated by using a Kalman algorithm, and thus an estimated trajectory of target motion is obtained; then a consistency algorithm is adopted, and a multi-agent system is controlled to form the formation; and finally, the target estimated trajectory is tracked through a sensor control method. According to the collaborative control and target tracking method based on the mobile multi-agent formation, a Kalman filter under a gaussian noise environment is selectedto estimate target motion, processes of sensor controlling and target tracking are experimented through a consistency theory, combination of a sensor controlling problem and a target tracking problemis deepened in a traditional algorithm, and tracking stability is greatly improved.

The invention discloses methods for utilizing wind energy inside and outside a vehicle as well as a windshield air curtain device. Horizontal flow guiding plates and vertical flow guiding plates are mounted inside and outside the vehicle, and a fan and energy converting equipment are mounted inside the vehicle, so that the safety and the economy of the vehicle are improved, and the harm is turned into the wealth. High-pressure air flow is guided to a windshield to form a high-pressure air curtain, the clarity of the front windshield of the vehicle can be maintained longer, the safety is improved, and the device is environment-friendly.

An objective optical system includes a diffractive optical element on the light source side of an objective lens for focusing incident light of three different wavelengths with two different numerical apertures onto three different optical recording media. The diffractive optical element is formed of two lens elements made of different materials that are cemented together at a diffractive surface. Three conditions are satisfied so as to achieve optimum imaging. The diffractive surface may be shaped so that the order of the diffracted light of the shortest wavelength λ2 having the largest diffracted intensity is different from the order of the diffracted light of the second wavelength λ2 having the largest diffracted intensity, and the order of the diffracted light of the first wavelength λ1 having the largest diffracted intensity is also different from the order of the diffracted light of the third wavelength λ3 having the largest diffracted intensity.

The invention discloses an adaptive vector tracking method for a GPS Receiver. The method includes the following steps that: vector tracking loop initialization is carried out, wherein the vector tracking loop initialization includes the initial position, velocity, clock difference, clock drift and satellite ephemeris of the receiver; carrier and code NCO prediction parameters are calculated according to the position, velocity, clock difference, clock drift and satellite ephemeris estimated by using a navigation filter; the navigation filter carries out adaptive processing, wherein the adaptive processing includes the calculation of a scale factor calculation and a fuzzy controller, wherein the scale factor is used for judging an error channel, and the fuzzy controller outputs the measurement variance adjustment parameter of the corresponding channel with the ratio of a an innovation sequence variance to a measurement noise variance adopted as the input of the fuzzy controller; and the output of a carrier frequency discriminator and a code loop discriminator is adopted as the measurement information of the navigation filter, the measurement information is used for estimating the position, velocity, clock difference, clock drift and satellite ephemeris of the receiver, and the estimated information is used for correcting the position and velocity of the receiver, and the carrier and code NCO prediction parameters are calculated based on the satellite ephemeris, and therefore, stable tracking of input signals can be kept. The adaptive vector tracking method has the advantages of high navigation precision and stable tracking performance.

The invention provides a multicellular multi-parameter joint estimation and accurate tracking system based on an ant colony system, and belongs to the field of cell tracking, wherein parameters include positions, speed, outlines and the like. Initial position distribution of an ant colony is generated due to the fact that a corresponding local area gray level variance of each gray image is defined. Two information pixel fields which work in parallel and are mutually independent are built on the basis, wherein the pixel fields comprise a position field and an outline field. A bounded ant colony decision making system is respectively built on a cell position estimation module and a cell outline estimation module. Finally, important parameters such as positions, speed and outlines of cells are precisely estimated. Therefore, accurate tracking of multiple cells is achieved. By means of mutual cooperation of the bounded heuristic type ant colony systems, a cell detection module is needless, a large number of cell training samples are needless, and the joint estimation and tracking problems of multicellular kinetic parameters and multicellular outlines in a low-contrast cell image sequence are solved.

Present invention concerns a tie being the carrying element for rails in a railway track. The tie comprises means (1) for fastening the rails to the tie which in use is lying in a ballast bed of crushed stone at the formation plane of the line. At the underside (2) the tie is provided with a number of elevations (4), whose height (H) is 40-100% of Dmax of the crushed stone. Each elevation (4) protrudes across the tie, and constitutes a cogging towards the crushed stone, in the longitudinal direction of the tie.

The invention discloses a group target tracking method based on image morphology processing, which comprises the following steps of: processing echo signals received by a radar receiver in a samplingperiod, performing coordinate conversion calculation, establishing an initial image matrix, calculating a binary image matrix, sequentially performing image morphology processing and marking processing on the binary image matrix, calculating an equivalent center vector of a group target in the sampling period, calculating a track set of the group target by adopting a logic method, calculating an initial state of the center of the group target, calculating an association matrix, adjusting a filtering tracking track according to the association matrix, and taking a current filtering tracking track state as a filtering state for predicting the center position of the group target in the next sampling period, and finally obtaining a group target tracking result. According to the method, the group target tracking based on image morphology processing is used in the technical field of radar tracking, not only is the calculation precision of the group target center guaranteed, but also the group target is well tracked under the condition that the group target is partially missing, and the method has valuable practicability.

The invention discloses a multi-bernoulli random stochastic finite ant colony multi-cell tracking method. Firstly, a multi-bernoulli stochastic finite ant colony is proposed, the existence probabilityof the stochastic finite ant colony and the corresponding probability density function are given, on the basis, a related tracking problem is divided into prediction and update stages, in the prediction stage, prediction of the pheromone field and a sub ant colony state from a previous frame to a next frame is realized, the existence probability and discrete probability density distribution of the multi-Bennuoli stochastic finite ant colony in the prediction stage are given, in the update stage, the pheromone field is updated through multi-Bennuoli stochastic finite sub ant colony decision making, the multi-cell status is extracted, and thereby precise multi-cell tracking is achieved.

The invention generally relates to a system for generating and transmitting a telemetry formatted message containing raw Global Positioning System (GPS) information, processed Inertial Measurement Unit (IMU) information corresponding to the position and attitude of a high speed vehicle in motion. This telemetry formatted message is received on the ground and used to improve Kalman filter operation. In particular, the telemetry formatted message is used as an input to a ground based Kalman filter that is set to track and predict the trajectory of the high speed vehicle. The telemetry formatted message content improves the overall operation of the Kalman filter by preventing Kalman filter resets that occur when a bit error is encountered in the IMU data and improves the time correlation of high data rate IMU information and low data rate GPS information, both necessary for accurate tracking of the high speed vehicle.

The invention provides a multi-cell automatic tracking method based on a multi-Bernoullie filter with a label, which comprises a step of cell set initialization by the multi-Bernoullie filter with the label, a step of prediction by the multi-Bernoullie filter with the label and a step of updating by the multi-Bernoullie filter with the label. Cell set initialization adopts the k shortest path, a new cell set is generated according to the newly-appearing cell detection probability, weights and cell probability densities of the former-frame cell set and the newly-detected cell set are used, a predicted cell set in the current frame, the cell predicted probability density in the cell set and the cell set weight are acquired, the posterior probability density of the cells in the cell set and the weight of the cell set are calculated and updated through similarities, and cell tracking can be completed with no need of relevance.

The invention discloses a robot following method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring motion following information when a robot moves along with a target object in real time; the motion following information is used for describing the position of the target object in a robot coordinate system, the relative motion relation between the robot and surrounding obstacles, whether obstacles exist around the robot or not and the motion state of the robot, and the motion following information is input into a preset speed control model to be output to obtain a speed control signal for the robot; the speed control model is obtained through reinforcement learning training according to a preset reward function, can control the robot to continue to follow the target object to move according to the speed control signal, enables the robot and the target object to be kept within a preset distance range, and prevents the robot from colliding with surrounding obstacles. The problem that the following process is easily influenced by interferents in the environment, so that a wrong target is easily followed or a target is easily lost is solved, and the following stability is improved.

The invention belongs to the missile circuit technology, and relates to the improvement of the missile preamplifier. It includes a missile-borne computer and a low-noise operational amplifier U2, and is characterized in that there is a digital analog switch U1 whose output terminal Out is connected to the inverting input terminal of the low-noise operational amplifier U2, and its positive power supply terminal Vdd and negative power supply The terminal Vss is respectively connected with the positive and negative power supplies, its address data input terminal Adr is connected with the corresponding output port of the bomb computer, its signal input terminal is respectively connected with one end of the input resistor, and the other end of the input resistor is connected with the signal input of the conversion circuit. terminal Vin connection. The invention cancels the capacitance in the feedback loop, greatly shortens the response time of gain switching, and improves the tracking stability of the missile.

The invention provides a multi-cell automatic tracking system based on the fireworks algorithm, which generates potential cells in the image sequence by sparks generated by the fireworks explosion, and then searches and matches the real cells in the image according to the appropriate fitness function and the fireworks search mechanism, Finally, the nearest neighbor association is used to complete the cell tracking. The firework algorithm tracking system provided by the present invention can accurately track multiple cells. For multiple unknown and changing cells, cells with different dynamic characteristics, and neighboring cells, it can achieve accurate tracking effects, high tracking stability, and low false alarm rate. , The missed detection rate is low.

An information processing device includes a learning image input unit configured to input a learning image, in which a tracked object is captured on different shooting conditions, together with the shooting conditions, a feature response calculation unit configured to calculate a response of one or more integrated features, with respect to the learning image while changing a parameter in accordance with the shooting conditions, a feature learning unit configured to recognize spatial distribution of the one or more integrated features in the learning image based on a calculation result of the response and evaluate a relationship between the shooting conditions and the parameter and a spatial relationship among the integrated features so as to learn a feature of the tracked object, and a feature storage unit configured to store a learning result of the feature.

The invention relates to a target classification based phased array tracking resource self-adaptive scheduling method. The method includes: receiving target track information and interference source information in real time; receiving a clutter map and fast threshold information and the like; performing target classification according to the received information; dividing targets into four targettypes on the basis of the speed and the altitude; establishing a tracking mode library for the motion characteristics of the four target types; selecting the corresponding tracking mode from the modelibrary for the tracking beam resident application of different targets; and determining tracking parameters such as the data rate, the pulse number, the pulse width, and the repetition period to achieve self-adaptive configuration of tracking resources.

An information processing device includes a learning image input unit configured to input a learning image, in which a tracked object is captured on different shooting conditions, together with the shooting conditions, a feature response calculation unit configured to calculate a response of one or more integrated features, with respect to the learning image while changing a parameter in accordance with the shooting conditions, a feature learning unit configured to recognize spatial distribution of the one or more integrated features in the learning image based on a calculation result of the response and evaluate a relationship between the shooting conditions and the parameter and a spatial relationship among the integrated features so as to learn a feature of the tracked object, and a feature storage unit configured to store a learning result of the feature.

The invention relates to the field of non-image optics, provides a method for shaping a round beam into a spot beam and an annular beam, and aims to lower the complexity of the installing and debugging of the receiving system of an inter-satellite optical communication terminal and simplify the optical system structure of the inter-satellite optical communication terminal. The method comprises the following steps: (1) determining the diameter D0 of an incident beam; (2) determining the calibre D of a communication beam; (3) building a one to one correspondence relationship for the communication beam; (4) calculating the ray declination angle of the communication beam; (5) determining the radial phase distribution expression of the communication part of a complex function element; (6) determining the radial outline of the communication part of the complex function element; (7) building a one to one correspondence relationship for a tracking beam; (8) calculating the ray declination angle of the tracking beam; (9) determining the radial phase distribution expression of the tracking part of the complex function element; (10) determining the radial outline of the tracking part of the complex function element. The method is applicable to the field of non-imaging optics.