Embedded monocular passive target tracking positioning system and method based on FPGA (Field Programmable Gate Array)

Abstract

The invention provides an embedded monocular passive object tracking positioning system and method based on FPGA (Field Programmable Gate Array), and the system and the method are mainly used for solving the problem that the prior art is poor in reliability and real-time property during practical application. The system comprises an object imaging device, an electro-optic theodolite, a GPS (Global Position System) positioning device and an FPGA embedded processing unit, wherein a functional module of the FPGA embedded processing unit comprises a CPU (Central Processing Unit) core module, a system memory module, an integral image module, a Hessian response module and a DMA (Direct Memory Access) controller module. The object imaging device, the electro-optic theodolite and the GPS positioning device are respectively connected with the FPGA embedded processing unit; after being imaged by the object imaging device, an object is sent into the FPGA embedded processing unit so as to estimate out an object distance, and accomplish the positioning of the object in combination with an object angle information measured by the electro-optic theodolite and the space position information of the system measured by the GPS positioning device. The system has the advantages of strong reliability and real-time property, and can be used for performing real-time tracking and positioning on an opposite imaging object.

Description

technical field [0001] The invention belongs to the technical field of photoelectric detection, and relates to an embedded monocular passive target tracking and positioning system and method based on FPGA, which can be used for positioning and tracking of facing imaging targets. Background technique [0002] The tracking and positioning of the target mainly involves the distance measurement of the target. The position of the positioning system itself can be obtained by the GPS positioning device, and the angular orientation of the target relative to the positioning system can be obtained by the angle sensor. Therefore, to track and position the target, it must be continuously measured for a period of time. Passive ranging has the characteristics of good concealment because it does not need to send detection signals to the target. Compared with binocular and multi-eye ranging, monocular distance measurement has the characteristics of simple implementation scheme. The main m...

AI Technical Summary

Problems solved by technology

Literature [1] proposes a 3D reconstruction method based on monocular imaging model, which can be used for tracking and positioning of targets, but this method is complicated because it involves 3D reconstruction, and is not suitable for embedded target tracking and positioning systems; Literature [1] 2] A method of estimating the target distance by using the scale change of target imaging and wavelet analysis is proposed, but this method requires the target to change in the imaging scale, so the scope of application is small, the practicability is not strong, and the calculation is relatively complicated ; Literature [3] proposed a passive ranging method based on atmospheric transmission characteristics, target imaging surface and target motion analysis, but because this method involves too many calculation parameters, it is relatively complicated and is not suitable for embedded devices accomplish

In addition, the current monocular passive target tracking and positioning methods will encounter some problems in practical applications

Firstly, the imaging process of the target is easily disturbed by background light and noise, which makes it impossible to extract distance-related features from the target image, and the reliability of the positioning process will be affected; secondly, the tracking of the target requires relatively high real-time performance of the system, but Since the extraction process of the distance-related features in the target image is generally complicated, and the computing power of the embedded device is relatively limited, the monocular passive target tracking and positioning method is not easy to be realized on the embedded device in real time.

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