Research On Dynamic Weak Target Detection And Tracking System

Drones products have the characteristics of small size and strong concealment,which are widely used in industrial production,aerial photography,security monitoring and other areas.However,many problems are caused by the phenomenon of "black flying" of drones,which seriously threaten social security and personal safety.It is necessary to develop a set of UAV target detection and tracking system to monitor sensitive airspace in order to strengthen regulatory measures.The current unmanned aerial vehicles target detection and tracking system mostly adopts radio signal monitoring or radar detection,which is easily interfered by electromagnetic and other environmental factors and is difficult to accurately identify small targets like drones.In addition,such detection devices have large volume and high power consumption,and their application scenarios are also limited.With the development of computer vision,target detection and tracking system based on image processing technology has been widely used in the field of anti-UAV.In this thesis,ZYNQ-7020 processor is used as the development platform,and four-frame symmetric difference algorithm and Kalman filter track tracking algorithm are combined with edge detection.This thesis designs and develops a set of dynamic weak target detection and tracking system to complete the identification,location and tracking of UAV and other small flying targets.The main contents of this thesis are as follows:(1)Algorithm design of target detection and tracking system.In order to realize the detection and tracking function of unmanned aerial vehicles and other low-flying small targets,this thesis proposes a four-frame symmetric differential target detection algorithm based on edge feature extraction and a kalman filter trajectory tracking algorithm.These algorithms can enable the system to detect and track the target under dynamic background or certain interference environment.Compared with some traditional target detection and tracking algorithms,these algorithms proposed in this thesis have higher accuracy and robustness.(2)Hardware architecture design of target detection and tracking system.By comparing the advantages and disadvantages of different hardware platforms in the field of image processing,this thesis adopts ZYNQ processor as the system algorithm platform.At the same time,the system architecture of "baseboard + core board" is proposed.Among them,the core board deploys the main detection and tracking algorithm,and the bottom plate acts as a bridge to connect each circuit module and complete the hardware architecture design of the whole system.(3)Software and hardware design of target detection and tracking system.In hardware design,the system has power management circuit,image acquisition interface circuit,image display interface circuit,high-speed data transmission interface circuit,communication interface circuit and so on.In this thesis,the logic design of HDMI and Camera Link image acquisition interface units are carried out to ensure the integrity of system functions and stable data transmission.In the software design,the system has deployed the corresponding image preprocessing and target detection and tracking algorithm on ZYNQ-7020 chip,which is mainly in the core board.This system gives full play to the advantages of PL and PS resources in ZYNQ architecture.And This design realizes the hardware and software work together,improves the data processing ability,and ensures the stable operation of the system algorithm.(4)Functional test of target detection and tracking system.This thesis mainly tests and analyzes the image acquisition module,image preprocessing module,target detection and tracking module and the distribution of system hardware resources.The test results show that this system can accurately detect and track weak dynamic targets such as unmanned aerial vehicles.The system resources are allocated reasonably and each function module reaches the design target.This system conforms to the actual application requirements and facilitates the later function expansion and secondary development.The dynamic weak target detection and tracking system designed in this thesis can accurately identify and track UAV and other moving targets with the characteristics of "low,slow and small".This system has the advantages of fast processing speed,high tracking accuracy,low cost,modular design and so on.And This system is helpful to the secondary development and expansion of the system and has certain reference value in the application of target detection and tracking.