Research On Tracking And Attitude Measurement Of High-Speed Hurled Object

In the thesis, based on high-speed hurled object, several typical tracking algorithms are studied and a real-time tracking method is stated to meet the requirements of the system, at last, the tracking process is simulated. The servo system is composed of the DC servo motors to driver a two-axis turntable and the mass centroid tracking algorithm is applied to track the high-speed hurled object. The offset signal between the center of the object and the tracking gate is transformed to the error of the pitch and heading from the camera axis relative to the target center. And the signal is sent to the servo system to drive two-axis turntable. And then, the object is shown on the center of the screen and the real-time tracking is achieved. The pitch and heading of the target center relative to the camera axis can be calculated at real-time, based on the algorithm of controlling two-axis turntable, and then we can measure the attitude of the high-speed hurled object in real-time.In the paper, three methods of attitude measurement are studied, based on the single camcorder, and then two methods are used to build Mathematical model of measurement attitude relate to the pitch and heading of the target center relative to the camera axis and the whole process is analyzed in detail.1. First of all, a series of images preprocessing techniques are taken to separate the target image from background, binary images can be gotten through threshold segmentation. The axe of the target in the image can be gotten by least squares algorithm. And we can get the angle of the axe of the target image with coordinate axis. The mathematical model of the attitude can be deduced about the pitch and heading of the target center relative to the camera axis and the angle which is the axe of target image with the beam of the image plane, based on the space geometry, and then the attitude measurement is completed.2. The coordinates of centroid and the head of the object image are extracted in the image coordinate axis through image processing. The mathematical model can be deduced from the image coordinate axis to the world coordinate axis, based on the principle of perspective transformation, and then the attitude can be gotten by the measurement formula and then attitude measurement is completed...