Research On Key Technology Of Visual Tracking Stabilization Of Three-axis Platform System

Vision tracking Stabilization of the three-axles platform system is a complex system including the machinery, the electron, the control, the imagery processing and the sensor technology .Based on the three axle Gyro stabilized technology, the system counterbalances disturbance what the carrier movement brings and then makes sure the visual tracking axis track the goal to maintain stability. Along with the computer technology, the automated control and the imagery processing technological , the visual tenacious tracking technology has always been appreciated by the military, the industry, the Civilian areas, A lot of renowned researcher both domestic and foreign have researched this field at the same time. It is widely applies in Vehicle, ship-borne, the airborne weapon equipment target tracking system, the precision guidance, guards against fears defends against riots, the traffic control,the environmental monitoring, the disaster relief rescue, the geodetic survey, the robot navigation domains and as well as on aerial photography, astronomical observation.Based on the three-axles platform, according to the system design technical specification,I finished the overall concept design to realizes the design and realization of the three axles platform. In this article my analysis and research aims mainly at four parts, including the three-axles platform of the overall design, and the inertia steady signal processing, the target tracking algorithm, and design of control system.First, the definite system overall project design, the key encompassment solution track blind spot question, establishes the system structural framing model as well as the signal processing hardware platform build.Secondly, analyzed the inertia elements of the measure principle, established quaternion equation by using the Kalman filter , established the state equation and the observational equation of time renewal. At the same time ,then proposed a UD decomposition method to prevent the filter divergence, analyzed the sensors error of the characteristics and proposes the compensation and the adjustment separately.Thirdly, the TLD goal vision tracking is mainly composed by the tracking device, the detector and the study composition, in which the design of the tracking device is mainly based on the Pyramid optical flow method, the sorter cascade is composed by the variance sorter,the stochastic forest and the detector , the study composition is mainly based on the PN restraint.Finally,according to the characteristic of the control system,I proposed a classics PID control plan. Through test of the platform I verify the effect of the quaternion Kalman filter; I Simulates each kind of disturbance and then carries on Target tracking reliability test .Using the platform simulation the disturbance of the carrier, then test inertia stable technology as well as accomplish the target tracking stability test.