Overhead tracking processing method, device, equipment, storage medium and computer product

Abstract

The present application discloses an overhead tracking processing method, device, equipment, storage medium and computer product, which relates to the field of optoelectronic tracking technology. The method includes constructing 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 it is over the overhead blind zone based on the trajectory prediction model; obtaining the actual pitch angle of the moving target when it is over the overhead blind zone, and performing secant compensation on the lateral displacement measurement value of the moving target based on the actual pitch angle to obtain the lateral displacement compensation value of the moving target; using the predicted target speed as the feedforward amount of the moving target in the speed loop control, and performing overhead tracking on the moving target based on the feedforward amount and the lateral displacement compensation value. The present application adopts a combination of secant compensation and target trajectory prediction, which can continue to track the target when the actual pitch reaches the overhead blind zone, thereby improving the overhead tracking performance of the optoelectronic system.

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] Traditional optoelectronic tracking methods rely solely on the pitch frame to track the target, locking the azimuth frame when the pitch frame reaches a pitch angle close to 90°. The azimuth frame resumes operation only after the target leaves the overhead area. However, this traditional optoelectronic tracking method has significant drawbacks. First, the interruption of azimuth tracking leads to a significant decrease in tracking accuracy when the target moves laterally, and may even cause target loss. Second, because the sensor's horizontal field of view expands at large pitch angles due to geometric projection effects, traditional algorithms do not compensate for this, accumulating measurement errors in target displacement. Finally, the lack of a dynamic prediction mechanism makes it impossible to use historical motion data to predict the target's trajectory after it enters the blind spot, resulting in control signal lag and further exacerbating tracking errors.

[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 content is only used to assist in understanding the technical solution of this application and does not constitute an admission that the above content is prior art. Summary of the Invention

[0006] The main purpose of this 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 objectives, the present application proposes an overhead tracking processing method, which includes:

[0008] Building a trajectory prediction model based on 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;

[0009] Acquiring an actual pitch angle of the moving target when passing through the blind spot, and performing 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;

[0010] The predicted target speed is used as a feedforward quantity of the moving target in the speed loop control, and the moving target is tracked overhead based on the feedforward quantity and the lateral displacement compensation value.

[0011] In one embodiment, the target motion data includes inertial navigation data and satellite positioning data, and the step of constructing a trajectory prediction model based on the target motion data of the moving target includes:

[0012] 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 based on the inertial navigation data and the satellite positioning data.

[0013] In one embodiment, the step of generating a predicted target speed of the moving target when passing through the blind spot based on the trajectory prediction model includes:

[0014] Determining a predicted target trajectory of the moving target when it passes through the blind spot based on the trajectory prediction model;

[0015] A motion state transfer equation is constructed according to the state characteristic 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.

[0016] In one embodiment, the step of determining the predicted target velocity of the moving target based on the motion state transition equation includes:

[0017] 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;

[0018] The true motion state of the motion target is determined based on the state observation value of the motion target at the current moment and the predicted state estimation value, and the speed component in the true motion state is used as the predicted target speed of the motion target.

[0019] In one embodiment, the step of performing secant compensation on the measured lateral displacement of the moving target according to the actual pitch angle to obtain the lateral displacement compensation value of the moving target includes:

[0020] 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 based on the product of the lateral displacement measurement value and the actual secant value.

[0021] In one embodiment, the overhead tracking processing method includes:

[0022] Detect whether the current pitch angle of the moving target is within the preset over-the-top blind zone;

[0023] 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;

[0024] 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.

[0025] In addition, to achieve the above-mentioned purpose, the present application also proposes an overhead tracking processing device, the device comprising:

[0026] A construction module is used to construct a trajectory prediction model based on 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;

[0027] a secant compensation module, configured to obtain an actual pitch angle of the moving target when the moving target 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;

[0028] The overhead tracking module is used to use the predicted target speed as the feedforward of the moving target in the speed loop control, and to perform overhead tracking on the moving target based on the feedforward and the lateral displacement compensation value.

[0029] In addition, to achieve the above-mentioned purpose, the present application also proposes an overhead tracking processing device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the computer program is configured to implement the steps of the overhead tracking processing method as described above.

[0030] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by the processor, the steps of the overhead tracking processing method described above are implemented.

[0031] In addition, to achieve the above-mentioned purpose, the present application also proposes a computer product, which includes a computer program, and the computer program contains computer program code means stored on a computer-readable medium or carrier, and the computer program code means is configured to implement the steps of the overhead tracking processing method described above when executed by a computer or processor.

[0032] An embodiment of the present application provides an overhead tracking processing method, which constructs a trajectory prediction model based on the target motion data of the moving target to predict the predicted target speed of the moving target when it passes through the overhead blind zone; at the same time, the actual pitch angle of the moving target when it passes through the overhead blind zone 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 the feedforward quantity of the moving target in the velocity loop control, and combined with the lateral displacement compensation value after secant compensation, continuous and high-precision tracking of the moving target when it passes through the overhead blind zone is achieved, effectively overcoming the problems of traditional photoelectric tracking methods such as easy loss of the moving target when it passes through the overhead, accumulation of measurement errors and tracking deviation caused by lack of dynamic prediction, thereby significantly improving the overhead tracking performance of the photoelectric system. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a flow chart of a first embodiment of the overhead tracking processing method of the present application;

[0034] Figure 2 This is a schematic diagram of the control flow of the overhead tracking function involved in the embodiment of the present application;

[0035] Figure 3 This is a module diagram of the overhead tracking processing device of this application;

[0036] Figure 4 A schematic diagram of the device structure of the hardware operating environment involved in this application;

[0037] Figure 5 This is a schematic diagram of the storage medium structure involved in the overhead tracking processing method of this application.

[0038] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0039] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0040] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0041] As a crucial component of modern monitoring, tracking, and observation technology, optoelectronic systems are widely used in military, security, scientific research, and civilian applications. Their core function is to accurately track and locate targets, and precise control of both pitch and azimuth degrees of freedom is crucial to achieving this.

[0042] In practical applications of optoelectronic systems, traditional tracking strategies face significant challenges when the target is near the zenith (i.e., at an elevation angle approaching 90°). Specifically, when the elevation frame reaches an over-the-top position, to avoid extreme positional conflicts and potential damage to the mechanical structure, the common practice is to maintain normal tracking of the elevation frame while locking the azimuth frame at its current angle, preventing it from moving with the target. While this strategy protects the system's mechanical structure to a certain extent, it significantly reduces tracking performance.

[0043] The azimuth frame resumes tracking the target only after the target continues moving forward to a pitch angle greater than 91° or reverses to a pitch angle less than 89°. However, in the overhead range, where the pitch angle approaches 90°, the azimuth frame is locked, preventing the system from accurately capturing the target's position, significantly reducing tracking accuracy. Furthermore, when the target rapidly passes through this region, tracking loss can occur, severely impacting the electro-optical system's tracking performance in the overhead range.

[0044] Therefore, based on the shortcomings of the above overhead tracking processing scheme, the overhead tracking processing method of the present application is proposed. The solution of the embodiment of the present application is: by constructing a trajectory prediction model based on the target motion data of the moving target to predict the predicted target speed of the moving target when it is over the overhead blind spot; at the same time, obtaining the actual pitch angle of the moving target when it is over the overhead blind spot, and performing secant compensation on the lateral displacement measurement value of the moving target based on the actual pitch angle, so as to obtain a more accurate lateral displacement compensation value; next, combining the predicted target speed and the lateral displacement compensation value to achieve continuous and high-precision tracking of the moving target when it is over the overhead blind spot, thereby significantly improving the tracking effect of the optoelectronic system when it is over the overhead area.

[0045] It should be noted that the execution entity of this embodiment can be a computing service device with data processing, network communication, and program execution capabilities, such as a tablet computer, personal computer, or mobile phone, or a device capable of performing the aforementioned functions, such as overhead tracking processing equipment (e.g., an optoelectronic system). This embodiment and the following embodiments will be described below using an overhead tracking processing device as an example.

[0046] Based on this, the embodiment of the present application provides a method for overhead tracking processing, referring to Figure 1 , Figure 1 This is a flowchart of the first embodiment of the overhead tracking processing method of the present application.

[0047] Reference Figure 1 The present application provides an overhead tracking processing method. In a first embodiment of the overhead tracking processing method, the overhead tracking processing method includes steps S10 to S20.

[0048] Step S10: constructing 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.

[0049] 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 a preset over-the-top blind zone, it is determined that the moving target has not reached the over-the-top blind zone; and when the moving target has not reached the over-the-top blind zone, 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 target motion data of the moving target to facilitate the construction of a trajectory prediction model of the moving target; next, the predicted target speed of the moving target when it passes through the over-the-top blind zone is generated based on the trajectory prediction model, so as to provide accurate and reliable motion data for subsequent over-the-top tracking operations.

[0050] It should be noted that the preset overhead blind zone interval can be customized according to user needs. For example, the overhead 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.

[0051] 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 acceleration and angular velocity of a moving target and calculate the position, velocity, and attitude of the moving target by integration; that is, the inertial navigation data can at least include the position, velocity, and attitude of the moving target.

[0052] Figure 2 The GPS (Global Positioning System) shown can be understood as determining the latitude, longitude, and elevation information of a moving target at any location on the Earth by receiving radio signals transmitted by satellites; that is, satellite positioning data can at least include latitude, longitude, and elevation information.

[0053] Step S20: obtaining an actual pitch angle of the moving target when passing through the blind spot, 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.

[0054] In this embodiment, when the moving target is Figure 2During target tracking by the video tracker shown, when the target's pod pitch angle (i.e., the angle between the sensor axis in the video tracker and the horizontal plane) is large, the video tracker's actual horizontal field of view (i.e., field of view) will be distorted due to geometric projection. Specifically, the video tracker's actual horizontal field of view will expand as the pod pitch angle increases (similar to a secant function relationship). For example, the actual field of view will double at a pod pitch angle of 60° (because cos60° = 0.5 and sec60° = 2). Therefore, when the target is tracked by the video tracker, the video tracker obtains a measured deviation of the target relative to the center of the video tracker's video frame. The measured deviation includes a lateral displacement measurement of the target relative to the X-axis of the coordinate system containing the center of the video frame, and a longitudinal displacement measurement of the target relative to the Y-axis of the coordinate system. The lateral displacement measurement corresponds to the target's pod pitch angle, and the longitudinal displacement measurement corresponds to the target's pod azimuth. Specifically, after obtaining the actual pitch angle of the moving target when it passes through the blind spot, the lateral displacement measurement value corresponding to the actual pitch angle is determined, and the lateral displacement measurement value of the moving target at the center of the video screen is multiplied by secθ to correct the measurement error caused by the expansion of the field of view, so that the lateral displacement compensation value of the moving target can be accurately calculated.

[0055] 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.

[0056] Step S30: using the predicted target speed as a feedforward value of the moving target in the speed loop control, and performing overhead tracking on the moving target based on the feedforward value and the lateral displacement compensation value.

[0057] In this embodiment, referring to Figure 2, the measurement deviation value after secant compensation (i.e., longitudinal displacement measurement value and lateral displacement compensation value) is processed by the tracking controller. The tracking controller will first perform market matching, comprehensively consider factors such as the application scenario, performance requirements, and cost budget of the optoelectronic system, and select the most suitable sensor. After completing the sensor selection, the tracking controller performs operations based on the PID (proportional-integral-differential) algorithm to generate a motion signal containing azimuth and pitch motion angles, and transmits the motion signal to the stabilization controller; next, the stabilization controller simultaneously filters out the noise and interference in the motion signal and the predicted target speed (i.e., the feedforward amount of the moving target in the speed loop control), and then sends the motion signal and the predicted target speed to the power driver, so that the power driver can drive the moving target to move according to the received motion signal and the predicted target speed. During the movement of the moving target, the actual motion speed is collected and measured in real time through the sensor platform, and the difference is calculated with the predicted target speed. By continuously adjusting the output of the power driver, the actual motion speed gradually approaches the predicted target speed. At the same time, with the help of the encoder (i.e. Figure 2 The encoder shown in the figure monitors the actual position of the moving target in real time, compares the difference between the actual position and the specified position, and continuously adjusts the feedback until the moving target reaches the specified position, completing the precise tracking control of the moving target.

[0058] In summary, the embodiments of the present application provide an overhead tracking processing method, which constructs a trajectory prediction model based on the target motion data of the moving target to predict the predicted target speed of the moving target when it passes through the overhead blind spot; at the same time, the actual pitch angle of the moving target when it passes through the overhead blind spot is obtained, and the lateral displacement measurement value of the moving target is compensated by secant according to the actual pitch angle, so as to obtain a more accurate lateral displacement compensation value; next, the predicted target speed and the lateral displacement compensation value are combined to achieve continuous and high-precision tracking of the moving target when it passes through the overhead blind spot, effectively overcoming the problems of traditional photoelectric tracking methods such as easy loss of the moving target when it passes over the overhead, accumulation of measurement errors and tracking deviation caused by lack of dynamic prediction, thereby significantly improving the overhead tracking performance of the photoelectric system.

[0059] Furthermore, based on the above-mentioned first embodiment of the present application, a second embodiment of the overhead tracking processing method of the present application is proposed. The above-mentioned step S10: constructing a trajectory prediction model based on the target motion data of the moving target may also include the following implementation step S101.

[0060] Step S101: 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 based on the inertial navigation data and the satellite positioning data.

[0061] In this embodiment, when the moving target has not reached the overhead blind zone, the inertial navigation data of the moving target is obtained through the inertial navigation system, and the satellite positioning data of the moving target is obtained through the 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 a trajectory prediction model for the moving target.

[0062] Furthermore, in some other feasible embodiments, the above-mentioned step S10: generating the predicted target speed of the moving target when passing through the blind spot according to the trajectory prediction model, may also include the following implementation steps A10 to A20.

[0063] Step A10: determining the predicted target trajectory of the moving target when it passes through the overhead blind zone based on the trajectory prediction model.

[0064] In this embodiment, the trajectory prediction model is used to train the motion trajectory of the moving target when it passes through the blind spot, so that the predicted target trajectory of the moving target when it passes through the blind spot can be accurately obtained.

[0065] Step A20: constructing a motion state transfer equation based on the state feature vector corresponding to the predicted target trajectory, and determining the predicted target speed of the moving target based on the motion state transfer equation.

[0066] In this embodiment, the target motion state of the moving target corresponding to the predicted target trajectory when passing through the blind spot is determined, and then a motion state transfer equation is constructed based on the state characteristic vector of the target motion state, and the predicted target speed of the moving target when passing through the blind spot is determined based on the motion state transfer equation.

[0067] It should be noted that the motion state transfer equation can be expressed by the following formula (1).

[0068] ...Formula (1)

[0069] in, For the sports goal The state feature vector at the moment , For the sports goal Position at the moment; Indicates that the moving target is The speed of time, For the sports goal The acceleration at the moment; F is the state transfer matrix of the moving target, , is the time interval between two consecutive moments; is the measurement noise of the trajectory prediction model during model training.

[0070] Furthermore, in some feasible embodiments, the above-mentioned step A20: determining the predicted target speed of the moving target according to the motion state transfer equation may also include the following implementation steps A201 to A202.

[0071] Step A201: predicting the predicted state estimation value at the current moment based on the historical state estimation value at the previous moment and the motion state transfer equation.

[0072] In this embodiment, for each time step (i.e. the current moment), according to Historical state estimates And the state transfer matrix F in the motion state transfer equation, predict the estimated value of the predicted state at the current moment ,Should .

[0073] Step A202: Determine the true motion state of the motion target based on the state observation value of the motion target at the current moment and the predicted state estimation value, and use the velocity component in the true motion state as the predicted target velocity of the motion target.

[0074] In this embodiment, according to the preset observation matrix Determine the state observation value of the moving target at the current moment , and update the state observation value according to the preset state update formula and the predicted state estimate By performing calculations, the true motion state of the moving target can be accurately obtained; next, the motion state vector corresponding to the true motion state is determined, and the motion state vector includes at least a position component, a velocity component, and an acceleration component), and the velocity component is extracted from the motion state vector as the predicted target velocity of the moving target.

[0075] It should be noted that the state update formula can be expressed as the following formula (2).

[0076] ...Formula (2)

[0077] in, For the sports goal The real state of motion at each moment; Indicates that the moving target is The estimated value of the predicted state at time t; Indicates that the trajectory prediction model is The Kalman gain at time t, For the sports goal The state observation value at time , is the preset observation matrix.

[0078] Furthermore, in some other feasible embodiments, the above-mentioned step S20: 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 may also include the following implementation step S201.

[0079] Step S201: 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 based on the product of the lateral displacement measurement value and the actual secant value.

[0080] In this embodiment, the preset theoretical secant value set in this application can be understood as sec90°±5°, and the actual pitch angle is set to β. If the actual secant value secβ corresponding to the actual pitch angle is within the range of sec90°±5°, then the actual secant value corresponding to the actual pitch angle is determined to be consistent with the preset theoretical secant value; next, the lateral displacement measurement value of the moving target when it is at the actual pitch angle is determined, and the lateral displacement measurement value of the moving target at the center of the video screen is multiplied by secθ to correct the measurement error caused by the expansion of the field of view, so that the lateral displacement compensation value of the moving target can be accurately calculated.

[0081] Furthermore, in some other feasible embodiments, the overhead tracking processing method may further include the following implementation steps B10 to B30.

[0082] Step B10: Detecting whether the current pitch angle of the moving target is within a preset overhead blind zone;

[0083] Step B20: 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;

[0084] Step B30: 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.

[0085] 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. If the current pitch angle is not within the over-the-top blind zone, 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 the over-the-top blind zone, it is promptly 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 recursive mode, and use the historical motion data of the moving target to predict the predicted target speed when the moving target is in the over-the-top blind zone. Subsequent response strategies such as the predicted target speed when the moving target is in the over-the-top blind zone are effectively avoided, effectively avoiding the problem of reduced tracking accuracy or even loss of the target due to the moving target entering the over-the-top blind zone, and greatly improving the stability and reliability of the optoelectronic system in tracking the moving target.

[0086] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the overhead tracking processing method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0087] The present application also provides an overhead tracking processing device, which includes an overhead tracking processing controller, an information acquisition unit, and a thermal management unit. The overhead tracking processing controller is connected to the information acquisition unit and the thermal management unit. Please refer to Figure 3 , the overhead tracking processing controller includes:

[0088] A construction module H01 is configured to construct a trajectory prediction model based on target motion data of a moving target, and generate a predicted target velocity of the moving target when the moving target passes through a blind spot based on the trajectory prediction model;

[0089] The secant compensation module H02 is 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;

[0090] The overhead tracking module H03 is used to use the predicted target speed as the feedforward of the moving target in the speed loop control, and to perform overhead tracking on the moving target based on the feedforward and the lateral displacement compensation value.

[0091] Optionally, the building block H01 may further include:

[0092] The model building unit is used to obtain the inertial navigation data and the satellite positioning data of the moving target when the moving target has not reached the overhead blind zone, and to build a trajectory prediction model based on the inertial navigation data and the satellite positioning data.

[0093] Optionally, the building block H01 may further include:

[0094] A trajectory prediction unit, configured to determine a predicted target trajectory of the moving target when the moving target passes through the overhead blind zone based on the trajectory prediction model;

[0095] The first speed prediction unit is used to construct a motion state transfer 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 transfer equation.

[0096] Optionally, the building block H01 may further include:

[0097] A state prediction unit, configured to predict a predicted state estimate value at the current moment based on a historical state estimate value at a previous moment before the current moment and the motion state transfer equation;

[0098] The second speed prediction unit is used to determine the real motion state of the motion target based on the state observation value of the motion target at the current moment and the predicted state estimation value, and use the speed component in the real motion state as the predicted target speed of the motion target.

[0099] Optionally, the secant compensation module H02 may further include:

[0100] a product unit for determining a lateral displacement measurement value of the moving target when the moving target is at the actual pitch angle when the actual secant value corresponding to the actual pitch angle is consistent with a preset theoretical secant value, and obtaining a lateral displacement compensation value of the moving target based on the product of the lateral displacement measurement value and the actual secant value.

[0101] Optionally, the building block H01 may further include:

[0102] A detection unit, configured to detect whether the current pitch angle of the moving target is within a preset overhead blind zone;

[0103] a first determining unit, configured to determine that the moving target has not reached the over-the-top blind zone if the current pitch angle is not within the over-the-top blind zone;

[0104] The second determining unit is configured to determine that the moving target has reached the over-the-top blind zone if the current pitch angle is within the over-the-top blind zone interval.

[0105] The overhead tracking processing device provided in this application utilizes the overhead tracking processing method described in the aforementioned embodiment, thereby resolving the technical issue of poor overhead tracking performance. Compared to the prior art, the overhead tracking processing device provided in this application achieves the same beneficial effects as the overhead tracking processing method described in the aforementioned embodiment. Other technical features of the overhead tracking processing device are the same as those disclosed in the aforementioned embodiment and are not further detailed here.

[0106] The present application provides an overhead 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 that can be executed 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 overhead tracking processing method in the above-mentioned embodiment one.

[0107] Reference below Figure 4 , which shows a schematic diagram of the structure of an overhead tracking processing device suitable for implementing embodiments of the present application. The overhead 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), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 4 The overhead tracking processing device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0108] like Figure 4As shown, the overhead tracking processing device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the operation of the overhead tracking processing device. Processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following devices may be connected to I / O interface 1006: input devices 1007, such as a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008, such as a liquid crystal display (LCD), speaker, vibrator, etc.; storage device 1003, such as a magnetic tape or hard disk; and communication devices 1009. Communication device 1009 can allow the overhead tracking processing device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows an overhead tracking processing device with various devices, it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may alternatively be implemented or have.

[0109] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0110] The overhead tracking device provided in this application utilizes the overhead tracking method described in the aforementioned embodiment to address the technical issue of poor overhead tracking performance. Compared to the prior art, the overhead tracking device provided in this application achieves the same beneficial effects as the overhead tracking method described in the aforementioned embodiment. Other technical features of the overhead tracking device are the same as those disclosed in the aforementioned embodiment and are not further elaborated here.

[0111] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0112] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0113] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, a computer program) stored thereon, wherein the computer-readable program instructions are used to execute the overhead tracking processing method in the above-mentioned embodiment.

[0114] The computer-readable storage medium provided herein may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor devices, apparatuses, or components, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution device, apparatus, or component. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including, but not limited to, wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0115] The computer-readable storage medium may be included in the overhead tracking processing device; or may exist independently without being assembled into the overhead tracking processing device.

[0116] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the overhead tracking processing device, the overhead tracking processing device:

[0117] Acquiring initial text data to be processed, wherein the initial text data includes an initial text format and processing format requirements;

[0118] Determining a processing mode according to the processing format requirement and the initial text format, wherein the processing mode includes a first processing mode for changing the text format and a second processing mode for not changing the text format;

[0119] When the processing mode is the first processing mode, displaying text according to the initial text format and the processing format requirement;

[0120] When the processing mode is the second processing mode, text is displayed according to the initial text format.

[0121] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, 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 via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0122] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the devices, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based device that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0123] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0124] Reference Figure 5 , Figure 5 This is a schematic diagram of the storage medium structure involved in the overhead tracking method of the present application. The computer-readable storage medium provided in this application stores computer-readable program instructions (i.e., a computer program, ie, an overhead tracking program) for executing the overhead tracking method, thereby resolving the technical issue of poor overhead tracking performance. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are similar to those of the overhead tracking method provided in the aforementioned embodiments and are not further elaborated here.

[0125] The present application also provides a computer program product, comprising a computer program, which implements the steps of the overhead tracking processing method as described above when the computer program is executed by a processor.

[0126] The computer program product provided in this application can solve the technical problem of poor overhead tracking processing. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the overhead tracking processing method provided in the above embodiment, and will not be repeated here.

[0127] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for overhead tracking, characterized in that: The overhead tracking processing method includes: Building a trajectory prediction model based on 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; Obtaining an actual pitch angle of the moving target when passing through the blind spot, and performing 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; Using the predicted target speed as a feedforward quantity of the moving target in a speed loop control, and performing overhead tracking on the moving target based on the feedforward quantity and the lateral displacement compensation value; The step of generating a predicted target speed of the moving target when passing through the blind spot according to the trajectory prediction model includes: Determining a predicted target trajectory of the moving target when it passes through the blind spot based on the trajectory prediction model; Constructing a motion state transfer equation based on the state characteristic vector corresponding to the predicted target trajectory, and determining the predicted target speed of the moving target based on the motion state transfer equation; The step of determining the predicted target speed of the moving target based on the motion state transfer equation includes: 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; Determining the true motion state of the motion target based on the state observation value of the motion target at the current moment and the predicted state estimate, and using the velocity component in the true motion state as the predicted target velocity of the motion target; 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 includes: 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.

2. The overhead tracking processing method according to claim 1, wherein: 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 based on the inertial navigation data and the satellite positioning data.

3. The overhead tracking processing method according to claim 1, wherein: The overhead tracking processing method includes: Detect whether the current pitch angle of the moving target is within the preset over-the-top 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.

4. An overhead tracking processing device, characterized in that: The overhead tracking processing device includes: A construction module is used to construct a trajectory prediction model based on 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; The construction module is further configured to determine a predicted target trajectory of the moving target when passing through the overhead blind zone based on the trajectory prediction model; construct a motion state transfer equation based on a state feature vector corresponding to the predicted target trajectory; and determine a predicted target speed of the moving target based on the motion state transfer equation; The construction module is further configured to predict a predicted state estimate value at the current moment based on a historical state estimate value at a previous moment and the motion state transfer equation; determine a true motion state of the motion target based on the state observation value of the motion target at the current moment and the predicted state estimate value, and use a velocity component in the true motion state as a predicted target velocity of the motion target; a secant compensation module, configured to obtain an actual pitch angle of the moving target when the moving target 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 secant compensation module is further configured to, when an actual secant value corresponding to the actual pitch angle is consistent with a preset theoretical secant value, determine a lateral displacement measurement value of the moving target when the moving target is at the actual pitch angle, and obtain a lateral displacement compensation value of the moving target based on a product of the lateral displacement measurement value and the actual secant value; The overhead tracking module is used to use the predicted target speed as the feedforward of the moving target in the speed loop control, and to perform overhead tracking on the moving target based on the feedforward and the lateral displacement compensation value.

5. 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 3.

6. A storage medium, wherein the storage medium is a computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the overhead tracking processing method according to any one of claims 1 to 3.

7. 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 enable a computer or a processor to implement the steps of the overhead tracking processing method according to any one of claims 1 to 3 when executed.

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