The Design And Implementation Of Video Target Tracking System Based On FPGA And DSP

Video target tracking technology is an advanced technology of comprehensive discipline.It is a blend of tracking control,artificial intelligence,image processing and other fields advanced content.After many years research and development,video target tracking technology has been widely applied in modern military,intelligent monitoring,intelligent transportation,and in the field of human-computer interaction and so on.And more and more attention is taken seriously in both at home and abroad.This paper designs a kind of video target tracking system based on FPGA + DSP and the system working principle are further studied.Under the premise that the overall scheme be determined to complete the hardware design of system,on the basis of the hardware to complete the design of video target detection algorithm and the tracking control algorithm.Eventually algorithm is realized in hardware,completing the real-time tracking to a moving target remote control car.In this paper,specific work is as follows:(1)Video target tracking system overall plan and hardware design.First of all,the working principle of video target tracking system are introduced in details.On the basis of the working principle determine overall design scheme of this topic.Then the part of the system is discussed,to introduce the specific function of each part that are trying to accomplish.The last video target tracking system can be designed divided into video acquisition system and stability control system hardware respectively.(2)Video acquisition and real-time display based on FPGA.With FPGA as controller,use Verilog hardware description language to design video acquisition module,SDRAM controller module and VGA display module and to introduce the function of each module.Finally through the ModelSim-Altera tools get timing simulation for each module of input and output port.(3)Video target detection algorithm design and FPGA implementation.First to introduced the filter processing algorithm that commonly used in image processing,image morphology processing and video target detection algorithm.After filtering on extraction of gray image,use background difference method to separate the background image and video target.After separation of image corrosion and expansion processing,according to the principle of pixel scanning to get the average video target coordinates.Using FPGA complete writing video target detection methods,and according to the calculated average abscissa and ordinate get deviation angle tracking data,finally using UART communication transfer trackdeviation angle to DSP controller.(4)Tracking control algorithm design and the realization of DSP.For each module to establish mathematical model of the video target tracking system,the mathematical model of tracking loop is obtained by the mathematical model of each module.Using the principle of PID to rectify mathematical model of tracking control circuit,get the most suitable PID control parameters.Put the output of the closed loop control system as input to control the motor completing the tracking control of the machine.Using DSP controller to complete each sensor data collection in the system and realize the tracking control algorithm.(5)System testing and validation.After the system work normally,In the process of tracking via a serial port communication of real time transmit video target average abscissa and ordinate average transmitted to the PC.Select multiple sets of data and to draw,finding the center of the target video always near the center of the video image.The experimental results show that moving target is always at the center of the camera position,completed the real-time tracking of remote control car.