Tracking Technology Research Based On PT Visual Turntable

PT turntable is a mechanical workbench which can rotate around yaw axis and pitch axis. It has wide range of applications in military, scientific research and many other areas.When combined with a camera, PT turntable becomes two-dimensional visual turntable. The research on the visual turntable can be divided into two parts:visual part and control part. The function of visual part is taking pictures, recognizing target, and Obtaining the target’s location information. As for control part, it makes the turntable rotate rapidly and steadily, to make the taget always in the pixel position people want. The main work is as follows.Research background, significance and research status of visual turntable’s were introduced firstly. Then the visual turntable’s hardware and software operating principle were presented in details. In order to get the better controller, the simulation model of the turntable was established, including kinetic model which was got by Lagrange equation, and relation model between corner’s change and target’s pixel position’s change, which is got by fuzzy inference modeling method.With respect to the visual part, SIFT feature was used to recognize any rigid target in complex background. To solve the lags caused by frame-by-frame recognition and the large amount of caculation resulting from extracting SIFT feature on whole image, a new tracking method which combine Kalman prediction and SIFT feature was proposed. Simulation result showed that new method improved processing speed and tracking accuracy.As for control part, variable universe adaptive fuzzy control algorithm was used allowing for PID controller’s parameters couldn’t get easily. The simulation result and physical control effect showd that VUAF controller not only improved control precision, but also saved a lot of time on adjusting parameter.