| Target recognition and tracking technology is a new and comprehensive subject. It includes a lot of subjects such as automatic control,image processing,target identification,electronic circuit and servo control. Interdisciplinary technology application level represents the strength of a country's advanced of science and technology. The target tracking technology application in military defense, the accuracy of the weapons has been improve effectively, so study the target recognition and tracking technology has a lot of value.The main work of this paper is aime at the target tracking system's target recognition,image processing, system modeling, controller design and the target tracking algorithm. The paper detailed work is as follows:(1) The overall plan for the target tracking system. Introduced the target tracking system's structure working principle,the overall scheme of the frame type seeker is given as the development platform. Then I presented the design index and described the work flow of the tracking system. Finally, the system module and the hardware circuit is designed, this will laid the foundation of control algorithm and the further research.(2) The target detection and recognition of the target tracking system.First I learned about image preprocessing, and introduced several filter algorithms. Comparing with their advantages,I know about its applicable environment; Learning the target recognition and extraction algorithm, I designed the image recognition algorithm for tracking target which target is infrared light spot.(3) Design the system modeling and controller of target tracking system. According to the system of overall planning, I established the mathematical model of each part and then derived the loop transfer function of the control system. In view of the design of double loop control circuit, I select to add high-pass filter in the PID controller, and through the Matlab PID Tuner, the tracking system's speed loop and position loop controller parameter has been setted, and then I did the simulation test and verify of system.(4) Image acquisition and real-time display. Take the camera capture data to realize VGA display can convenient for tracking system's debug and the observation of target motion state.First I set up the hardware platform and wrote the driver. Then I improveed the ping-pong operation and designed the SDRAM controller. In order to ensure the continuity of data flow,I used the FIFO to complete the across of the clock data interaction. After using the improved ping-pong operation, the image caused by the clock out of sync was eliminated effectively and the video acquired a stable and real-time display function.(5) Software and hardware debugging and the experiment of the system. Combined with the experimental environment and equipment, I built the hardware platform and debuged the hardware circuit. Then I planed the control algorithm and the working process in DSP and the process of laser flare in FPGA. Finally, through to the target tracking system on electrical test,I analysised the experimental results and put forward suggestions on the system improvement.In this paper, contrapose the condition of the infrared light as the tracking target, I design and build the target tracking system,with the appropriate design of tracking algorithm,I got that stability and dynamic characteristics of the design has meet the requirements, the speckle tracking measurement tracking accuracy within ±0.3° .The system achieved the effect of the real-time target tracking. |
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