Research On Automatic Tracking System Of Stage Lighting Based On UWB

The use of light tracking down in the stage is an indispensable method of stage art technic.Stage lights can be properly controlled to create more emotional stage environment,and express emotional changes of actors.However,there is no ideal way to control the stage lights currently.The common methods are conducted by manual,remote controlling and fixed route controlling ways.All these control methods have certain defects,and cannot economically and efficiently meet the requirements of the light to accurately follow the actors on the stage.Therefore,the development of a low-cost,high-precision,high-robust stage lighting automatic tracking control system is of great significance to improve the stage rendering effect and enhance the development of the enterprise.This dissertation mainly analyzes the existing control methods of stage lighting and wireless location and navigation technology.On the basis of related research,the two-degree-of-freedom stage spotlights are used as the control object,and the ultra-bandwidth(UWB)positioning technology is used to track the actors' location.The system is designed and analyzed in detail.Finally,an experimental environment is built up for system testing.The main work of this dissertation is as follows:(1)Based on the full investigation of the literature,UWB positioning technology is used in this dissertation to solve the problem of low positioning accuracy and poor anti-interference energy.The first chapter introduces the basic theory and basic characteristics of UWB in detail.Then several commonly positioning techniques are analyzed and compared to demonstrate the effectiveness of TOA ranging technology on UWB.(2)This dissertation analyzes the trilateration algorithm commonly used in indoor positioning technology and solves the coordinates of the target.Due to the existence of ranging error,the coordinates obtained by the trilateration have certain errors.In order to reduce theses,different Kalman filter algorithms are used to optimize the positioning error and analyze its performance for error handling.The positioning algorithm is combined with the Kalman filter algorithm to obtain higher positioning accuracy.Then the system converts the coordinates of lights and the base station into the same coordinate system to solve the rotation angle and elevation angle of the two-degree-of-freedom spotlights.The geometric algorithm of the space vector is used to solve the rotation angle and the elevation angle,and the rotation angle and the elevation angle are converted into corresponding motion instructions.(3)The host computer is written by Qt 5.8.It is the key to the realization of the whole system,and it is mainly responsible for the specific implementation of human-computer interaction management and theoretical algorithms.The human-computer interaction module includes the display of target position,the coordinate configuration of base station and spotlight.The theoretical algorithm is mainly realized by using the multi-thread technology for receiving the distance data uploaded by the base station 0.Then the target coordinates are calculated by the trilateration.Finally,the angle of the spotlight supposed to move can be obtained according to coordinates of the spotlight and the target.The pulse value is sent to the system of spotlight by the thread 2.(4)The experimental platform is set up to collect and analyze the experimental data in this chapter.During the experiment,the ranging error of each base station is firstly corrected to ensure that the ranging accuracy is within 10 cm.After that,static and dynamic light tracking experiments are conducted separately to collect the experimental data.According to the data analysis,when the aperture diameter is about 50 cm and the actor moves at a speed of 0.5m/s,the system can accurately illuminate the actor.This dissertation designs a new control system of stage lighting,combining the technology of indoor positioning and navigation with the control method of spotlights.This makes it possible to achieve automatic tracking of the stage lighting.The experimental results show that the system has high accuracy and real-time performance under static and low-speed motion.In the subsequent development,the algorithm can be optimized to achieve the system's response speed and real-time performance at higher speeds.