Study On Position Andattitude Tracking Technology Of Single Cameravision Based On Cooperate Aim

With the continuous development of science and technology, position and attitude tracking technology is the modern test, control, navigation and so one of the important issues, therefore, whether civilian or in the field of aerospace, computer-based visual position and attitude tracking technology has received widespread attention. But the study a stable performance, applicability and target tracking methods still face enormous challenges. This thesis is directed against the hot topics and difficulties, has been analyzed and summarized in the attitude parameters of measurement based on the start of the Single camera vision-based three-dimensional attitude measurement of moving target tracking technology research, has important theoretical and practical value.In this paper, using L-H method to estimate the motion parameters, and image coordinates extraction, feature matching, turntable angle control is studied. based on previous work, Improved algorithm for estimating motion parameters, Feature points do not consider the relationship between the constraints, so that target tracking in the project more practical, broadens the target tracking system in the practical engineering applications. Firstly, the visual tracking system for the overall description and analysis of pinhole camera imaging model based on a single objective measurements of visual space coordinates, by movement of visual analysis, epipolar equation is estimated from the motion parameters of the method, and simulation results the algorithm is correct, then introduced the quadratic surface fitting based on Gaussian linear interpolation of the regional center positioning mathematical methods to study the photograph on the camera's image coordinates extracted to obtain the coordinates of feature points, and inside and outside the parameters of the camera calibration problem is illustrated and is a turntable control system software driver interface and control strategy analysis, and Finally, a tracking experiment, through two sets of experiments, we can see that turntable rotation curve and the actual target motion coincide, indicating the system to complete the tracking task, and better real-time, position and orientation tracking system by the error sources and not determine the degree of analysis, derived system also can meet the precision requirements of the position and orientation tracking is not too high.