Research On Real-time Tracking System Of Ground Target Based On SOPC

With the rapid development of Miniature Unmanned Aerial Vehicles in recent years,the technology of ground target real-time tracking using UAV has become more and more important.Especially in applications such as monitoring,tracking,positioning,and precision strike,the tracking accuracy and its real-time performance are highly demanded.In this paper,through the analysis of characteristics of UAV platform,a real-time target tracking method is studied,and Hardware Software co-design is realized by using SOPC.The main contents of this paper are as follows:(1)A target extraction technique based on threshold segmentation and edge detection is studied,which can effectively extract the contour and shape information of the target.Gradient information is applied to construct target feature model,which improves the efficiency of the algorithm while ensuring tracking accuracy.Basing on the particularity of the UAV platform,the target extraction and tracking algorithm is optimized.The tracking problems brought by UVA platforms such as near-surface targets,body and camera movement,and target loss redetection are studied in depth,and solutions are proposed to make the algorithm achieve both real-time and accuracy requirements.(2)In order to achieve real-time tracking of ground targets more efficiently on the UVA,characteristics and existing problems of tracking algorithms are researched.Also,requirements on hardware platform,video data input,tracking targets,functions and related indicators for tracking processing systems are analyzed.Based on these analyses,SOPC technology is selected as a tracking processing hardware platform from a variety of UAV platform embedded system solutions.With the use of FPGA plus embedded dual-core ARM and proper HW/SW co-design,modules in the tracking processing system are divided reasonably.Moreover,with the design of hardware acceleration module,calculations of large volumes data with simple types in the algorithm are accelerated,resulting in an improvement of the real-time performance and stability of the tracking algorithm.(3)The tracking processing system is designed and implemented.Based on the requirements of practical application scenarios,a ground target real-time tracking system using SOPC technology is designed.Using FPGA and embedded dual-core ARM hardware platform,real-time video capture and transmission,image pre-treatment,real-time tracking of ground targets,and control of the tracking process and status on UAV are realized.The experimental results show that the target tracking system can effectively achieve long-time stable target tracking for 1920×1080 image resolution and 60 Hz frame frequency video.It also has a good response mechanism when the target is lost and meets the requirements of real-time performance.