Real-time closed loop predictive tracking method of maneuvering target

Abstract

The invention discloses a real-time closed loop predictive tracking method of a maneuvering target, which is a closed loop real-time self-adaptive processing method of on-line predictive immediate tracking in a maneuvering small target imaging tracking system and is mainly used for fields of photoelectric imaging tracking, robot vision, intelligent traffic control and the like. Due to the adoption of the method, a captured target can be extracted to to establish a flight track, the target flight track is filtered, the position of a target at a next collection time is predicted, a platform is processed in real time on line with high performance of a DSP main processor and a FPGA coprocessor, a prediction algorithm which can cope with target maneuver with higher accuracy is adopted to predict the motion state of the target in real time and a prediction result is utilized to drive a piezoelectric ceramic motor two-dimensional motion station to carry out overcompensation, thereby the self-adaptive predictive tracking is realized. The invention has the advantages that the method can overcome the defect of a largened tracking error caused by system delay and can still carry out continuous and stable tracking when the target maneuvers or is temporarily sheltered.

Description

Technical field [0001] The invention relates to a target photoelectric imaging tracking technology, in particular to a closed-loop real-time adaptive processing method for real-time prediction and real-time tracking of a mobile small target TV tracking system, which can be used for continuous and stable imaging tracking of distant mobile small targets. Background technique [0002] Achieving high-precision continuous and stable tracking is a hot issue in the application of maneuvering small target tracking. The tracking of this type of target usually has a long detection distance (several kilometers), uniform background, small undulations, and small target imaging size, which generally occupies a pixel area of ​​about 3×3. It has maneuverability and may be caused by humans. , Procedures and other factors produce maneuvering, and maneuvering strength can reach 2g or even higher. Traditional imaging tracking methods usually extract the target from the acquired current frame of ima...

AI Technical Summary

Problems solved by technology

To sum up, there is no good tracking method to achieve online real-time self-adaptive and continuous stability for small targets with maneuvering ability and fast movement speed.

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