Tracking Algorithm Research And Hardware Design Of TV Tracking System

From 1960's to now, the TV image tracking system is widely applied to themilitary.Inanti-aircraftandfirecontrollingsystem,becausetheTVtrackingcandealwith the drawbackof insufficiency of the radar in the anti-electronic interference, it ispaid attention. From the technology, in the earlier time TV image tracking systemmostly works on the single pattern, and can be realized with separate element andanalog equipment,when on work person must participate in the control.Since the1980's, it has entered a highlydeveloping period with the important characteristic ofthe artificial intelligence and integration(for example unifying radar,infrared ray andlaser and so on) the intelligent multi-molds tracking device and multi-characteristicstrackingdevicebecomestheimportantresearchingcontextAtpresenttheTVtrackingdevice mainly use the analog architecture,the ability of system's intelligent judge-mentandtheanti-complexbackgroundworkingisrelativeweaker.The princple of TV image tracking system is TV camera abstracts image of thegoal,before the missile is launched, transmitting it in front of the operator's TVscreen. When goal image coicides with the line "十" of tv screen , the goal can beintercepted. If the goal is in the scope where the missile is permitted to launch, thenlaunching the missile.After missile is launched, image of goal is no longer trans-mitted to loading machine, but automatic tracked by the picture recognition of thetracking system , and can form the control instrument to control the missile to attacktothegoal.AlongwiththequickdevelopmentofimageprocessingandDigitalSignalProcessor,commonDSPchipsarewidelyutilizedtoimagetracingsystem.Thegoalof this paper is to design a TVimage tracking system based on DSP. The main workof this paper is to design the achitecture structure of software and hardware based onTV image tracking system. At the part of the system software the target trackingalgorithm has been researched and improved,then the massive outdoor test to thesystemiscarryedon,itissatisfiedwiththerequestofthesystem.The image processing algorithm is an essential part of this paper. In imageprocessing,firstly it makes a comprehensive generalization to image measure of theTVtrackingsystem ,and introduces theconceptionofthevideosignal,theTVsignal,the principle of the CCD camera and the method of measuring image.Then it intro-duces the mathematics background applied bythe image tracking system and makesimage processing in detail;The image processing algorithm used in this system hasbeen researched and compared, and improved the target tracking algorithm. Beforeobtainingthedatabyabstractingobject characteristicfromtheimage,wecanprocessand analysis the primitive image. The edge detection is the premise and the basis forthe picture division and the characteristic abstraction, then carrying on the medianfilter, so we use the edge detection to obtain the edge image of the ground image.Usually edge detection employs the method of template operation,in commontemplateisPrewittdetector,Sobeldetectorandso on,Sobeldetectorismoresensitivetothediagonaledge;ThePrewittdetectorismoresensitivetohorizontalandverticaledgethanthediagonal edge.Separatelyusingthe Prewitt eight horizontal compassesedge detector and the Sobel edge detector to process the image, the experimentindicates that compared to the Sobel edge detector the Prewitt eight horizontal com-passes edge detector is suitable for this system.The paper uses the method which isunified by the correlation tracking to TV image , when the goal was lost, using themethodofthecorrespondingmemoryextrapolationalgorithmtotrackthegoal.The system hardware consists of DSPand MCU, and other chips are connectedby I2C bus.This part in detail introduced the power , the clock, external memoryinterface(EMIF), the video input/output port(VP) of DSP and hardware interfacecircuit of MCU.we select special video digital signal processor TMS320DM642 ofTexas Instruments Corporation to the platform core processor; and expand a MCUC8051F020, which is responsible for control of the system. The power is selecteddouble output , low-voltage and stabilized-voltage power TPS767D301 which isproduced by American Texas Instruments Corporation to supply the power forDM642 , the output voltage is extremely stable. The part of the clock circuit , theDSP frequency is 600MHz, multi-frequency mode of the system's internal PLLcircuit is made to 12 (make DM642 corresponding pin CLKMODE1=1, CLKMO-DE0=0), therefore system's 600M clock can be provide by 50MHz external clocksource;The part of the External Memory Interface ,it expands two pieces of 4M*32bit SDRAM and a piece of 1M*8 bit FLASH by EMIFA, SDRAM is connected tothe 64 bit data bus ED [ 63: 0 ] of EMIFA , which is used for saving the angeldeviationdata andtheimagedata, FLASHis connectedto thelow 8bit databus ED[ 7: 0 ] of EMIFA, which is used for saving the bootloader of EMIFA and theprogram of user; The part of the video input/output , in three video ports ofDM642,VP0,VP1is connectedtothe videodecoderSAA7115Hproduced byphilipsCorporation, which converts the images gathered by CCD to digital signal,thentransmitts to the DM642, VP2 is connected to the video encoder SAA7115H pro-duced by philips Corporation,which converts digital signal processed by DM642 toanalog signal,then transmitts to the receiving device, MCU uses C8051F020 ofCygnal corporation , C8051F020 is connected to DM642 through the I2C bus andGPIO, for receivingangel deviation data,At the same time, C8051F020 receives theexternal control instruction through GPIO, to control system work, and receives andtransmitts data through internal UART0 and UART1 ports, then outputs angeldeviationdatathroughPC.The software realization of system uses C language, DSP completes internalestablishment of this system. It uses CCS for the development environment, andrealizes a series of image prosessing program,and finally transmitts it to MCU.Thepart of MCU realizes comunication to DSP,using Keil C51 for the developmentenvironment.Through the I2C bus receiving deviation data, transmitts the deviationdata to the control box by UART1, then the deviation data which is transmitted bythe control box is written to EEPROM of DM642 board for saving through the I2Cbus,after the interpret,the data on EEPROM of DM642 boardreads is read to C8051-F020 through the I2C bus.at last the data read out from EEPROM is given byUART0toPCtocheckon.Finally the massive test to the system is carryed on at the diffirent condition ,and we have carried on the test in outdoor for the whole system.the TV imagetracking system can be satisfied to the request of the application. This system hastwo merits:one is real-time of the system is better then other's, because it uses themethod which is unified by the correlation tracking , when the goal was lost,thepaperuses themethodofthecorrespondingmemoryextrapolationalgorithm totrackthe goal; the others is that the visibility of the processed result is well, because theprocessed result can be transmitted to PC byC8051F020 two ports, it makes the testresultvisible.