The invention discloses a lightweight target tracking method and
system for a resource-constrained embedded platform, and mainly solves the problem that a complex target tracking
algorithm is difficult to give consideration to real-time performance and robustness on a low-cost
microcontroller. The core of the invention lies in providing an improved tracking strategy fused with inertial navigation information. The method specifically comprises the steps of introducing IMU inertial navigation data to construct a feed-forward motion compensation mechanism aiming at the problem of view field offset caused by attitude change of an observation platform in an air-to-air tracking scene, calculating pixel displacement caused by attitude change of a carrier platform in real time, and removing the pixel displacement in a Kalman filtering prediction stage to realize decoupling of target motion and platform motion. According to the method, deep appearance
feature extraction is abandoned, and a self-adaptive
Kalman filtering algorithm is provided. According to the
algorithm, measurement
noise covariance is dynamically adjusted in real time by using detection confidence output by a front end, so that track oscillation caused by low-quality observation is inhibited; and meanwhile, a
process noise covariance is adaptively increased by using normalized information square (NIS) statistical characteristics, and tracking
lag under fast maneuvering (
jitter) is eliminated. A static
memory pool technology is adopted on a
microcontroller to manage a track life cycle, and a hardware
floating point unit (FPU) and a CMSIS-DSP math
library are utilized to accelerate matrix operation. According to the invention, low-
delay and high-precision target tracking is realized on the STM32
microcontroller, and the method is widely applied to an embedded microcontroller platform.