Top-crossing tracking processing method and device, equipment, storage medium and computer product

Abstract

The invention discloses a top-crossing tracking processing method, device and equipment, a storage medium and a computer product, and relates to the technical field of photoelectric tracking, and the method comprises the steps: constructing a trajectory prediction model according to the target motion data of a moving target, and generating a predicted target speed of the moving target in a top-crossing blind area according to the trajectory prediction model; acquiring an actual pitch angle of the moving target when the moving target passes through the top blind area, and performing secant compensation on the lateral displacement measurement value of the moving target according to the actual pitch angle to obtain a lateral displacement compensation value of the moving target; and taking the predicted target speed as a feed-forward quantity of the moving target in speed loop control, and performing top-crossing tracking on the moving target according to the feed-forward quantity and the transverse displacement compensation value. According to the method and the device, a mode of combining secant compensation and target trajectory prediction is adopted, the target can still be continuously tracked when the actual pitching reaches the top-crossing blind area, and the top-crossing tracking performance of the photoelectric system is further improved.

Description

Technical Field

[0001] The present application relates to the field of photoelectric tracking technology, and in particular to an overhead tracking processing method, device, equipment, storage medium and computer product. Background Art

[0002] With the continuous development of optoelectronic tracking technology, users have put forward higher requirements for the overhead tracking effect of optoelectronic systems.

[0003] The traditional optoelectronic tracking method locks the azimuth frame when the pitch frame reaches a pitch angle close to 90°, and only relies on the pitch frame to track the target. The azimuth frame resumes working after the target leaves the overhead area. However, this traditional optoelectronic tracking method has significant defects. First, the interruption of azimuth tracking leads to a significant decrease in tracking accuracy when the target moves laterally, and may even lose the target; second, since the horizontal field of view of the sensor at a large pitch angle is expanded due to the geometric projection effect, the traditional algorithm does not compensate for this, thereby accumulating measurement errors of target displacement; finally, the lack of a dynamic prediction mechanism makes it impossible to use historical motion data to predict the trajectory of the target after it enters the blind spot, resulting in a lag in the control signal, which further aggravates the tracking deviation.

[0004] Therefore, how to improve the overhead tracking performance of the optoelectronic system is a technical problem that needs to be solved urgently.

[0005] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0006] The main purpose of the present application is to provide an overhead tracking processing method, device, equipment, storage medium and computer product, aiming to improve the overhead tracking performance of the optoelectronic system.

[0007] To achieve the above purpose, the present application proposes an overhead tracking processing method, the overhead tracking processing method comprising: Building a trajectory prediction model based on the target motion data of the moving target, and generating a predicted target speed of the moving target when passing through the blind spot based on the trajectory prediction model; Acquire an actual pitch angle of the moving target when it passes through the blind spot, and perform secant compensation on a measured lateral displacement of the moving target according to the actual pitch angle to obtain a lateral displacement compensation value of the moving target; The predicted target speed is used as a feedforward amount of the moving target in the speed loop control, and the moving target is tracked overhead based on the feedforward amount and the lateral displacement compensation value.

[0008] In one embodiment, the target motion data includes inertial navigation data and satellite positioning data. The step of constructing a trajectory prediction model based on the target motion data of the moving target includes: When the moving target has not reached the overhead blind area, obtain the inertial navigation data and the satellite positioning data of the moving target, and construct a trajectory prediction model based on the inertial navigation data and the satellite positioning data.

[0009] In one embodiment, the step of generating a predicted target speed of the moving target in the overhead blind area based on the trajectory prediction model includes: Determine a predicted target trajectory of the moving target in the overhead blind area according to the trajectory prediction model; Construct a motion state transition equation based on the state feature vector corresponding to the predicted target trajectory, and determine the predicted target speed of the moving target according to the motion state transition equation.

[0010] In one embodiment, the step of determining the predicted target speed of the moving target according to the motion state transition equation includes: Predict a predicted state estimate value at the current moment according to a historical state estimate value at the previous moment of the current moment and the motion state transition equation; Determine the true motion state of the moving target according to the state observation value of the moving target at the current moment and the predicted state estimate value, and use the speed component in the true motion state as the predicted target speed of the moving target.

[0011] In one embodiment, the step of performing secant compensation on the lateral displacement measurement value of the moving target according to the actual pitch angle to obtain a lateral displacement compensation value of the moving target includes: When the actual secant value corresponding to the actual pitch angle is consistent with a preset theoretical secant value, determine the lateral displacement measurement value of the moving target at the actual pitch angle, and obtain the lateral displacement compensation value of the moving target according to the product of the lateral displacement measurement value and the actual secant value.

[0012] In one embodiment, the overhead tracking processing method includes: Detect whether the current pitch angle of the moving target is within a preset overhead blind area interval; If the current pitch angle is not within the overhead blind area interval, determine that the moving target has not reached the overhead blind area; If the current pitch angle is within the overhead blind area interval, determine that the moving target has reached the overhead blind area.

[0013] In addition, to achieve the above object, the present application further provides an over-the-top tracking processing device, which includes: A construction module, configured to construct a trajectory prediction model based on the target motion data of a moving target, and generate a predicted target speed of the moving target when it is in the over-the-top blind area according to the trajectory prediction model; A secant compensation module, configured to obtain the actual pitch angle of the moving target when it is in the over-the-top blind area, and perform secant compensation on the lateral displacement measurement value of the moving target according to the actual pitch angle to obtain the lateral displacement compensation value of the moving target; An over-the-top tracking module, configured to use the predicted target speed as a feedforward quantity in the speed loop control of the moving target, and perform over-the-top tracking on the moving target according to the feedforward quantity and the lateral displacement compensation value.

[0014] In addition, to achieve the above object, the present application further provides an over-the-top tracking processing device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor. The computer program is configured to implement the steps of the over-the-top tracking processing method as described above.

[0015] In addition, to achieve the above object, the present application further provides a storage medium, which is a computer-readable storage medium. A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the over-the-top tracking processing method as described above are implemented.

[0016] In addition, to achieve the above object, the present application further provides a computer product, which includes a computer program. The computer program includes computer program code means stored on a computer-readable medium or a carrier wave. The computer program code means is configured to enable a computer or a processor to implement the steps of the over-the-top tracking processing method as described above when executed.

[0017] The embodiment of the present application provides an over-the-top tracking processing method. By constructing a trajectory prediction model based on the target motion data of a moving target, the predicted target speed of the moving target when it is in the over-the-top blind area is predicted. At the same time, the actual pitch angle of the moving target when it is in the over-the-top blind area is obtained, and the lateral displacement measurement value of the moving target is secant-compensated according to the actual pitch angle, so as to obtain a more accurate lateral displacement compensation value. Next, the predicted target speed is used as a feedforward quantity in the speed loop control of the moving target, and continuous and high-precision tracking of the moving target when it is in the over-the-top blind area is achieved in combination with the laterally displaced compensation value after secant compensation, effectively overcoming problems such as easy loss, cumulative measurement error, and tracking deviation caused by lack of dynamic prediction when the moving target passes over the top in the traditional optoelectronic tracking method, thereby significantly improving the over-the-top tracking performance of the optoelectronic system. Description of the Drawings

[0018] Figure 1 It is a schematic flowchart of the first embodiment of the over-the-top tracking processing method of the present application; Figure 2 It is a schematic flowchart of the over-the-top tracking function control process involved in the solution of the embodiment of the present application; Figure 3 It is a schematic diagram of the modules of the over-the-top tracking processing device of the present application; Figure 4 It is a schematic diagram of the device structure of the hardware operating environment involved in the device of the present application; Figure 5 It is a schematic diagram of the storage medium structure involved in the over-the-top tracking processing method of the present application.

[0019] The realization of the purpose of the present application, functional features and advantages will be further described with reference to the embodiments and the accompanying drawings. Specific Embodiments

[0020] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0021] In order to better understand the technical solution of the present application, the following will be described in detail with reference to the accompanying drawings of the specification and specific embodiments.

[0022] As an important part of modern monitoring, tracking and observation technologies, the optoelectronic system is widely used in many fields such as military, security, scientific research and civilian use. Its core function is to achieve precise tracking and positioning of targets, and precise control of the two degrees of freedom of pitch and azimuth is the key to realizing this function.

[0023] In the actual application of the optoelectronic system, when the target is near the zenith (i.e., the pitch angle is close to 90°), the traditional tracking strategy faces severe challenges. Specifically, when the pitch frame reaches the over-the-top position, in order to avoid conflicts at the limit positions of the mechanical structure and possible damage, the common practice is to keep the normal tracking of the pitch frame, while the azimuth frame is locked at the current angle and no longer moves with the target. Although this strategy protects the mechanical structure of the system to a certain extent, it brings a significant decline in the tracking effect.

[0024] After the target continues to move forward until the pitch angle is greater than 91° or turns back until the pitch angle is less than 89°, the azimuth frame resumes tracking the target again. However, in the over-the-top interval where the pitch angle is close to 90°, due to the locking of the azimuth frame, the system cannot accurately capture the azimuth information of the target, resulting in a significant decline in tracking accuracy. In addition, when the target quickly passes through this area, it will cause a serious problem of tracking loss, seriously affecting the tracking effect of the optoelectronic system in the over-the-top area.

[0025] Therefore, based on the deficiencies of the above over-the-top tracking processing scheme, the over-the-top tracking processing method of the present application is proposed. The solution of the embodiment of the present application is as follows: By constructing a trajectory prediction model for the target motion data of a moving target, the predicted target speed of the moving target in the over-the-top blind area is predicted; at the same time, the actual pitch angle of the moving target in the over-the-top blind area is obtained, and the lateral displacement measurement value of the moving target is secant-compensated according to the actual pitch angle, so as to obtain a more accurate lateral displacement compensation value; Next, by combining the predicted target speed and the lateral displacement compensation value, continuous and high-precision tracking of the moving target in the over-the-top blind area is achieved, thereby significantly improving the tracking effect of the optoelectronic system in the over-the-top area.

[0026] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a device capable of implementing the above functions, an over-the-top tracking processing device (such as an optoelectronic system), etc. Hereinafter, taking the over-the-top tracking processing device as an example, this embodiment and the following embodiments will be described.

[0027] Based on this, the embodiment of the present application provides an over-the-top tracking processing method, referring to Figure 1 , Figure 1 which is a schematic flowchart of the first embodiment of the over-the-top tracking processing method of the present application.

[0028] Referring to Figure 1 , the present application provides an over-the-top tracking processing method. In the first embodiment of the over-the-top tracking processing method, the over-the-top tracking processing method includes steps S10 to S20.

[0029] Step S10: Construct a trajectory prediction model based on the target motion data of the moving target, and generate the predicted target speed of the moving target in the over-the-top blind area according to the trajectory prediction model.

[0030] In this embodiment, referring to Figure 2 , the current pitch angle of the moving target is obtained through a video tracker. If the current pitch angle is not within the preset over-the-top blind area interval, it is determined that the moving target has not reached the over-the-top blind area; and when the moving target has not reached the over-the-top blind area, the inertial navigation data of the moving target is obtained through an inertial navigation system, and the satellite positioning data of the moving target is obtained through a global positioning system; Next, the inertial navigation data and the satellite positioning data are used as the target motion data of the moving target to facilitate the construction of the trajectory prediction model of the moving target; Next, the predicted target speed of the moving target in the over-the-top blind area is generated according to the trajectory prediction model, so as to provide accurate and reliable motion data for subsequent over-the-top tracking operations.

[0031] It should be noted that the preset over-the-top blind zone interval can be customized according to the user's needs. For example, the over-the-top blind zone interval set in this application is 90°±5°, that is, the interval is [85°, 95°]. The moving target can be understood as the optoelectronic pod of the optoelectronic system.

[0032] Figure 2 The INS (Inertial Navigation System) shown can be understood as an inertial sensor (for example, a gyroscope and an accelerometer), which is used to measure the motion acceleration and motion angular velocity of the moving target, and calculate the position, velocity and attitude of the moving target through integration; that is to say, the inertial navigation data can at least include the position, velocity and attitude of the moving target.

[0033] Figure 2 The GPS (Global Positioning System) shown can be understood as determining the longitude, latitude and elevation information of the moving target at any position on the earth by receiving radio signals emitted by satellites; that is to say, the satellite positioning data can at least include longitude, latitude and elevation information.

[0034] Step S20: Obtain the actual pitch angle of the moving target when it is in the over-the-top blind zone, and perform secant compensation on the lateral displacement measurement value of the moving target according to the actual pitch angle to obtain the lateral displacement compensation value of the moving target.

[0035] In this embodiment, when the moving target is Figure 2During the process of target tracking by the video tracker shown, when the pod pitch angle of the moving target (i.e., the angle between the sensor axis in the video tracker and the horizontal plane) is large, the actual field of view range (i.e., the field of view) of the video tracker in the horizontal direction will be distorted due to geometric projection relationships. That is, the actual field of view range of the video tracker in the horizontal direction will expand as the pod pitch angle increases (similar to the secant function relationship). For example, this actual field of view range will double when the pod pitch angle is 60° (because cos60° = 0.5 and sec60° = 2). Therefore, during the process of the moving target being tracked by the video tracker, by obtaining the measurement deviation value of the moving target relative to the center of the video frame of this video tracker, since the measurement deviation value includes the lateral displacement measurement value corresponding to the X-axis in the coordinate system where the center of the video frame is located, and the longitudinal displacement measurement value corresponding to the Y-axis in this coordinate system, where the lateral displacement measurement value corresponds to the pod pitch angle of the moving target, and the longitudinal displacement measurement value corresponds to the pod azimuth angle of the moving target. Specifically, after obtaining the actual pitch angle of the moving target in the over-the-top blind area, determine the lateral displacement measurement value corresponding to this actual pitch angle, and multiply the lateral displacement measurement value of the moving target at the center of the video frame by secθ to correct the measurement error caused by the field of view expansion, so that the lateral displacement compensation value of the moving target can be accurately calculated.

[0036] It should be noted that: secθ = 1 / cosθ, where secθ represents the secant value of the moving target, cosθ represents the cosine value of the moving target, and θ represents the actual pitch angle.

[0037] Step S30: Use the predicted target speed as the feedforward quantity in the speed loop control of the moving target, and perform over-the-top tracking on the moving target based on the feedforward quantity and the lateral displacement compensation value.

[0038] In this embodiment, refer to Figure 2, the tracking controller processes the measured deviation value after secant compensation (i.e., the longitudinal displacement measurement value and the lateral displacement compensation value). The tracking controller first performs a market match, comprehensively considering factors such as the application scenario, performance requirements, and cost budget of the optoelectronic system, and selects the most suitable sensor. After completing the sensor selection, the tracking controller performs operations based on the PID (Proportional-Integral-Derivative) algorithm to generate a motion quantity signal containing the azimuth and pitch motion angles, and transmits the motion quantity signal to the stabilization controller; Next, after the stabilization controller synchronously filters out the noise and interference in the motion quantity signal and the predicted target speed (i.e., the feedforward quantity in the speed loop control of the moving target), it sends the motion quantity signal and the predicted target speed to the power driver, so that the power driver drives the moving target to move according to the received motion quantity signal and the predicted target speed. During the movement of the moving target, the actual movement speed measured by the sensor platform in real time is collected and the difference is calculated with the predicted target speed. By continuously adjusting the output of the power driver, the actual movement speed gradually approaches the predicted target speed. At the same time, with the help of an encoder (i.e., Figure 2 the code disk shown) the actual position of the moving target is monitored in real time, the difference between the actual position and the specified position is compared, and continuous feedback adjustment is performed until the moving target reaches the specified position, completing the precise tracking control of the moving target.

[0039] In summary, the embodiment of the present application provides an over-the-top tracking processing method. By constructing a trajectory prediction model based on the target motion data of the moving target, the predicted target speed of the moving target in the over-the-top blind area is predicted; at the same time, the actual pitch angle of the moving target in the over-the-top blind area is obtained, and the secant compensation is performed on the lateral displacement measurement value of the moving target according to the actual pitch angle, so as to obtain a more accurate lateral displacement compensation value; Next, by combining the predicted target speed and the lateral displacement compensation value, continuous and high-precision tracking of the moving target in the over-the-top blind area is realized, effectively overcoming the problems of easy loss, measurement error accumulation, and tracking deviation caused by lack of dynamic prediction when the moving target passes over the top in the traditional optoelectronic tracking method, thereby significantly improving the over-the-top tracking performance of the optoelectronic system.

[0040] Further, based on the first embodiment of the present application above, a second embodiment of the over-the-top tracking processing method of the present application is proposed. The above step S10: constructing a trajectory prediction model according to the target motion data of the moving target may further include the following implementation steps S101.

[0041] Step S101: When the moving target has not reached the over-the-top blind area, obtain the inertial navigation data and the satellite positioning data of the moving target, and construct a trajectory prediction model according to the inertial navigation data and the satellite positioning data.

[0042] In this embodiment, when the moving target has not reached the overhead blind area, inertial navigation data of the moving target is obtained through an inertial navigation system, and satellite positioning data of the moving target is obtained through a global positioning system; next, the inertial navigation data and the satellite positioning data are used as the target motion data of the moving target, so as to facilitate the construction of a trajectory prediction model for the moving target.

[0043] Further, in some other feasible embodiments, the above step S10: generating the predicted target speed of the moving target when in the overhead blind area according to the trajectory prediction model may further include the following implementation steps A10 to step A20.

[0044] Step A10: Determine the predicted target trajectory of the moving target when in the overhead blind area according to the trajectory prediction model.

[0045] In this embodiment, by performing model training on the motion trajectory of the moving target when in the overhead blind area according to the trajectory prediction model, the predicted target trajectory of the moving target when in the overhead blind area can be accurately obtained.

[0046] Step A20: Construct a motion state transition equation according to the state feature vector corresponding to the predicted target trajectory, and determine the predicted target speed of the moving target according to the motion state transition equation.

[0047] In this embodiment, the target motion state of the moving target corresponding to the predicted target trajectory is determined, and then a motion state transition equation is formed according to the state feature vector of the target motion state, and the predicted target speed of the moving target when in the overhead blind area is determined according to the motion state transition equation.

[0048] It should be noted that the motion state transition equation can be expressed by the following formula (1).

[0049] ……Formula (1) Among them, is the state feature vector of the moving target at the th moment, and the , is the position of the moving target at the th moment; represents the speed of the moving target at the th moment, is the acceleration of the moving target at the th moment; F is the state transition matrix of the moving target, , is the time interval between two consecutive moments; is the measurement noise during model training of the trajectory prediction model.

[0050] Further, in some feasible embodiments, step A20 above: determining the predicted target velocity of the moving target according to the motion state transition equation may further include the following implementation steps A201 to A202.

[0051] Step A201: Predict the predicted state estimate at the current moment according to the historical state estimate at the previous moment of the current moment and the motion state transition equation.

[0052] In this embodiment, for each time step (i.e., the current moment), according to the historical state estimate and the state transition matrix F in the motion state transition equation, predict the predicted state estimate at the current moment , which .

[0053] Step A202: Determine the true motion state of the moving target according to the state observation value of the moving target at the current moment and the predicted state estimate, and use the velocity component in the true motion state as the predicted target velocity of the moving target.

[0054] In this embodiment, according to the preset observation matrix determine the state observation value of the moving target at the current moment, and calculate the state observation value and the predicted state estimate according to the preset state update formula, and the true motion state of the moving target can be accurately obtained; next, determine the motion state vector corresponding to the true motion state, which at least includes a position component, a velocity component, and an acceleration component), and extract the velocity component from the motion state vector as the predicted target velocity of the moving target.

[0055] It should be noted that the state update formula can be expressed by the following formula (2).

[0056] ……Formula (2) Wherein, is the true motion state of the moving target at the th moment; represents the predicted state estimate of the moving target at the th moment; represents the Kalman gain of the trajectory prediction model at the th moment, is the state observation value of the moving target at the th moment, is the preset observation matrix.

[0057] Further, in some other feasible embodiments, step S20 above: compensating the lateral displacement measurement value of the moving target with the secant according to the actual pitch angle to obtain the lateral displacement compensation value of the moving target may further include the following implementation steps S201.

[0058] Step S201: When the actual secant value corresponding to the actual pitch angle is consistent with the preset theoretical secant value, determine the lateral displacement measurement value of the moving target at the actual pitch angle, and obtain the lateral displacement compensation value of the moving target according to the product of the lateral displacement measurement value and the actual secant value.

[0059] In this embodiment, the preset theoretical secant value set in this application can be understood as sec90°±5°. Set the actual pitch angle as β. If the actual secant value secβ corresponding to the actual pitch angle is within the range of sec90°±5°, it is determined that the actual secant value corresponding to the actual pitch angle is consistent with the preset theoretical secant value; next, determine the lateral displacement measurement value of the moving target at the actual pitch angle, and multiply the lateral displacement measurement value of the moving target at the center of the video frame by secθ to correct the measurement error caused by the field of view expansion, so that the lateral displacement compensation value of the moving target can be accurately calculated.

[0060] Further, in some other feasible embodiments, the over-the-top tracking processing method may further include the following implementation steps B10 to step B30.

[0061] Step B10: Detect whether the current pitch angle of the moving target is within the preset over-the-top blind zone interval; Step B20: If the current pitch angle is not within the over-the-top blind zone interval, determine that the moving target has not reached the over-the-top blind zone; Step B30: If the current pitch angle is within the over-the-top blind zone interval, determine that the moving target has reached the over-the-top blind zone.

[0062] In this embodiment, the current pitch angle of the moving target is detected in real time and compared with the preset over-the-top blind zone interval. If the current pitch angle is not within this over-the-top blind zone interval, it can be quickly determined that the moving target has not reached the over-the-top blind zone, and the conventional tracking mode is maintained; once the current pitch angle is within this over-the-top blind zone interval, it is timely determined that the moving target has reached the over-the-top blind zone, thereby triggering the trajectory prediction model to switch to the historical data recursion mode and using the historical motion data of the moving target to predict the predicted target speed and other subsequent coping strategies when the moving target is in the over-the-top blind zone, effectively avoiding the problem of tracking accuracy degradation or even target loss caused by the moving target entering the over-the-top blind zone, and greatly improving the stability and reliability of the optoelectronic system for tracking the moving target.

[0063] It should be noted that the above examples are only for understanding the present application and do not constitute a limitation on the over-the-top tracking processing method of the present application. Based on this technical concept, more forms of simple transformations are within the protection scope of the present application.

[0064] The present application also provides an over-the-top tracking processing device. The over-the-top tracking processing device includes an over-the-top tracking processing controller, an information acquisition unit, and a thermal management unit. The over-the-top tracking processing controller is connected to the information acquisition unit and the thermal management unit. Please refer to Figure 3 wherein the over-the-top tracking processing controller includes: A construction module H01, configured to construct a trajectory prediction model according to the target motion data of the moving target, and generate a predicted target speed of the moving target when it is in the over-the-top blind area according to the trajectory prediction model; A secant compensation module H02, configured to obtain the actual pitch angle of the moving target when it is in the over-the-top blind area, and perform secant compensation on the lateral displacement measurement value of the moving target according to the actual pitch angle to obtain a lateral displacement compensation value of the moving target; An over-the-top tracking module H03, configured to use the predicted target speed as a feedforward quantity in the speed loop control of the moving target, and perform over-the-top tracking on the moving target according to the feedforward quantity and the lateral displacement compensation value.

[0065] Optionally, the construction module H01 may further include: A model construction unit, configured to obtain the inertial navigation data and the satellite positioning data of the moving target when the moving target has not reached the over-the-top blind area, and construct a trajectory prediction model according to the inertial navigation data and the satellite positioning data.

[0066] Optionally, the construction module H01 may further include: A trajectory prediction unit, configured to determine a predicted target trajectory of the moving target when it is in the over-the-top blind area according to the trajectory prediction model; A first speed prediction unit, configured to construct a motion state transition equation according to the state feature vector corresponding to the predicted target trajectory, and determine the predicted target speed of the moving target according to the motion state transition equation.

[0067] Optionally, the construction module H01 may further include: A state prediction unit, configured to predict a predicted state estimate value of the current moment according to a historical state estimate value of the previous moment of the current moment and the motion state transition equation; A second speed prediction unit, configured to determine a true motion state of the moving target according to a state observation value of the moving target at the current moment and the predicted state estimate value, and use a speed component in the true motion state as the predicted target speed of the moving target.

[0068] Optionally, the secant compensation module H02 may further include: A product unit, configured to determine a lateral displacement measurement value of the moving target at the actual pitch angle when an actual secant value corresponding to the actual pitch angle is consistent with a preset theoretical secant value, and obtain a lateral displacement compensation value of the moving target according to a product of the lateral displacement measurement value and the actual secant value.

[0069] Optionally, the construction module H01 may further include: A detection unit, configured to detect whether a current pitch angle of a moving target is within a preset over-the-top blind area interval; A first determination unit, configured to determine that the moving target has not reached the over-the-top blind area if the current pitch angle is not within the over-the-top blind area interval; A second determination unit, configured to determine that the moving target has reached the over-the-top blind area if the current pitch angle is within the over-the-top blind area interval.

[0070] The over-the-top tracking processing device provided by the present application adopts the over-the-top tracking processing method in the above embodiment, and can solve the technical problem of poor over-the-top tracking processing effect. Compared with the prior art, the beneficial effects of the over-the-top tracking processing device provided by the present application are the same as those of the over-the-top tracking processing method provided by the above embodiment, and other technical features in the over-the-top tracking processing device are the same as those disclosed in the method of the above embodiment, and will not be elaborated herein.

[0071] The present application provides an over-the-top tracking processing device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the over-the-top tracking processing method in the first embodiment above.

[0072] Next, refer to Figure 4 , which shows a schematic structural diagram of an over-the-top tracking processing device suitable for implementing the embodiments of the present application. The over-the-top tracking processing device in the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle terminals (such as vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 4The overhead tracking processing device shown is merely an example and should not impose any limitations on the functions and scope of use of the embodiments of the present application.

[0073] As Figure 4 shown, the overhead tracking processing device may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which may perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM: Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the overhead tracking processing device are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following devices may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 may allow the overhead tracking processing device to communicate with other devices wirelessly or wiredly to exchange data. Although the overhead tracking processing device with various devices is shown in the figure, it should be understood that it is not required to implement or include all the shown devices. More or fewer devices may be alternatively implemented or included.

[0074] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program codes for performing the methods shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from the network through the communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above functions defined in the methods of the embodiments disclosed in the present application are executed.

[0075] The overhead tracking processing device provided by this application adopts the overhead tracking processing method in the above-mentioned embodiment, which can solve the technical problem of poor overhead tracking processing effect. Compared with the prior art, the beneficial effects of the overhead tracking processing device provided by this application are the same as those of the overhead tracking processing method provided by the above-mentioned embodiment, and other technical features in this overhead tracking processing device are the same as those disclosed in the method of the previous embodiment, which will not be elaborated here.

[0076] It should be understood that each part disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0077] As mentioned above, it is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this application can easily think of changes or substitutions, which should all be covered within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claimed rights.

[0078] This application provides a computer-readable storage medium with computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the overhead tracking processing method in the above-mentioned embodiment.

[0079] The computer-readable storage medium provided by this application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor devices, devices or components, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM: Random Access Memory), read-only memory (ROM: Read Only Memory), erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution device, device or component. The program code contained on the computer-readable storage medium can be transmitted by any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0080] The above computer-readable storage medium may be included in the over-the-top tracking processing device; or it may exist independently and not be assembled into the over-the-top tracking processing device.

[0081] The above computer-readable storage medium carries one or more programs. When the one or more programs are executed by the over-the-top tracking processing device, the over-the-top tracking processing device is caused to: Obtain the initial text data to be processed, where the text initial data includes the initial text format and the processing format requirements; Determine a processing mode according to the processing format requirements and the initial text format, where the processing mode includes a first processing mode for changing the text format and a second processing mode for not changing the text format; When the processing mode is the first processing mode, perform text display according to the initial text format and the processing format requirements; When the processing mode is the second processing mode, perform text display according to the initial text format.

[0082] Computer program code for performing the operations of the present application may be written in one or more programming languages or combinations thereof. The above programming languages include object-oriented programming languages - such as Java, Smalltalk, C++; and also include conventional procedural programming languages - such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network - including a local area network (LAN: Local Area Network) or a wide area network (WAN: Wide Area Network) - or may be connected to an external computer (e.g., by connecting through the Internet using an Internet service provider).

[0083] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of devices, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a portion of code that contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based device that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0084] The modules involved in the embodiments described in the present application can be implemented in software or in hardware. In this case, the name of the module does not constitute a limitation on the unit itself.

[0085] Refer to Figure 5 , Figure 5 FIG. is a schematic diagram of the storage medium structure related to the over-the-top tracking processing method of the present application. The computer-readable storage medium provided by the present application stores computer-readable program instructions (i.e., computer programs, and this computer program is an over-the-top tracking program) for executing the above-mentioned over-the-top tracking processing method, and can solve the technical problem of poor effect of over-the-top tracking processing. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as those of the over-the-top tracking processing method provided in the above embodiments, and will not be elaborated here.

[0086] The present application also provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the steps of the over-the-top tracking processing method as described above.

[0087] The computer program product provided by the present application can solve the technical problem of poor effect of over-the-top tracking processing. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as those of the over-the-top tracking processing method provided in the above embodiments, and will not be elaborated here.

[0088] The above are only some embodiments of the present application, and do not limit the patent scope of the present application. All equivalent structural transformations made under the technical concept of the present application by using the content of the specification and drawings of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for overhead tracking processing, characterized in that: The overhead tracking processing method comprises: Building a trajectory prediction model based on the target motion data of the moving target, and generating a predicted target speed of the moving target when passing through the blind spot based on the trajectory prediction model; Acquire an actual pitch angle of the moving target when it passes through the blind spot, and perform secant compensation on a measured lateral displacement of the moving target according to the actual pitch angle to obtain a lateral displacement compensation value of the moving target; The predicted target speed is used as a feedforward amount of the moving target in the speed loop control, and the moving target is tracked overhead based on the feedforward amount and the lateral displacement compensation value.

2. The overhead tracking processing method according to claim 1, characterized in that: The target motion data includes inertial navigation data and satellite positioning data. The step of constructing a trajectory prediction model based on the target motion data of the moving target includes: When the moving target has not reached the overhead blind zone, the inertial navigation data and the satellite positioning data of the moving target are acquired, and a trajectory prediction model is constructed according to the inertial navigation data and the satellite positioning data.

3. The overhead tracking processing method according to claim 1, characterized in that: The step of generating a predicted target speed of the moving target when passing through the blind spot according to the trajectory prediction model comprises: Determining a predicted target trajectory of the moving target when it passes through the blind spot according to the trajectory prediction model; A motion state transfer equation is constructed according to the state feature vector corresponding to the predicted target trajectory, and a predicted target speed of the moving target is determined according to the motion state transfer equation.

4. The overhead tracking processing method according to claim 3, characterized in that: The step of determining the predicted target speed of the moving target according to the motion state transfer equation comprises: Predicting the predicted state estimate value at the current moment based on the historical state estimate value at the previous moment and the motion state transfer equation; The real motion state of the moving target is determined according to the state observation value of the moving target at the current moment and the predicted state estimation value, and the speed component in the real motion state is used as the predicted target speed of the moving target.

5. The overhead tracking processing method according to claim 1, characterized in that: The step of performing secant compensation on the lateral displacement measurement value of the moving target according to the actual pitch angle to obtain the lateral displacement compensation value of the moving target comprises: When the actual secant value corresponding to the actual pitch angle is consistent with the preset theoretical secant value, the lateral displacement measurement value of the moving target when it is at the actual pitch angle is determined, and the lateral displacement compensation value of the moving target is obtained according to the product of the lateral displacement measurement value and the actual secant value.

6. The overhead tracking processing method according to claim 1, characterized in that: The overhead tracking processing method comprises: Detect whether the current pitch angle of the moving target is within the preset overhead blind zone; If the current pitch angle is not within the over-the-top blind zone, determining that the moving target has not reached the over-the-top blind zone; If the current pitch angle is within the over-the-top blind zone, it is determined that the moving target has reached the over-the-top blind zone.

7. An overhead tracking processing device, characterized in that: The overhead tracking processing device comprises: A construction module, used to construct a trajectory prediction model according to the target motion data of the moving target, and generate a predicted target speed of the moving target when passing through the blind spot according to the trajectory prediction model; A secant compensation module, used to obtain the actual pitch angle of the moving target when it passes through the blind spot, and perform secant compensation on the lateral displacement measurement value of the moving target according to the actual pitch angle to obtain the lateral displacement compensation value of the moving target; The overhead tracking module is used to use the predicted target speed as the feedforward amount of the moving target in the speed loop control, and to perform overhead tracking on the moving target based on the feedforward amount and the lateral displacement compensation value.

8. An overhead tracking processing device, characterized in that: The overhead tracking processing device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the overhead tracking processing method according to any one of claims 1 to 6.

9. A storage medium, the storage medium being a computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the overhead tracking processing method according to any one of claims 1 to 6 are implemented.

10. A computer product, comprising a computer program, characterized in that: The computer program comprises computer program code means stored on a computer-readable medium or carrier wave, and the computer program code means is configured to implement the steps of the overhead tracking processing method according to any one of claims 1 to 6 when executed by a computer or a processor.

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