207results about How to "Guaranteed Tracking Accuracy" patented technology

The invention discloses a detecting and recognition method of moveable and visible foreign matters and bubbles in liquid medicines, which is characterized in that the method comprises the following steps: (1) a continuous multi-frame image of a liquid medicine to be detected is obtained; (2) the image is preprocessed; (3) a moveable object is extracted, and a reinforced image is obtained; (4) the moveable object is partitioned as follows: an improved two-dimensional maximum entropy threshold partitioning algorithm is applied into the processing of the reinforced image and a two-dimensional histogram that is formed by grayscale and average neighborhood grayscale is adopted for choosing threshold, thus obtaining a partitioned image; (5) the movable object is traced; and (6) the image is identified and determined as follows: a movement trace of the object is obtained according to the tracing result, objects inducing foreign matters and bubbles are identified and distinguished by utilizing the continuity and the directivity of the object movement trace, and consequently whether the liquid medicine is qualified is finally determined. Under the condition of ensured algorithm precision, the detecting and recognition method of moveable and visible foreign matters and bubbles in liquid medicines adequately simplifies computation, improves the real-time property of the algorithm, greatly raises the accuracy of foreign matter and bubble identification in the liquid medicine, and lowers the false detection rate of the medicine.

The invention discloses an SINS / GPS super-compact integrated navigation system and an implementing method thereof. The method comprises the following steps: the doppler frequency assistance is provided for a GPS carrier loop by using the velocity information of a strapdown inertial navigation system, therefore, the loop equivalent bandwidth is increased, the influence of the carrier dynamic stateon the carrier loop is lowered, and the noise suppression capability is improved by reducing the bandwidth of a filter; meanwhile, in order to eliminate the correlation between the pseudo-range rate error and the inertial navigation error, a carrier loop tracking error model is obtained by establishing the relationship between the carrier tracking error and the inertial navigation speed error, andthe influence of the carrier tracking error is subduced in the measurement equation; and in addition, the carrier frequency is adjusted according to the output error estimation information, and the tracking accuracy of the carrier loop is enhanced. The invention can effectively enhance the noise suppression capability and the dynamic tracking performance of the tracking loop and enhance the tracking accuracy of a GPS receiver and the navigation accuracy of the integrated navigation system under strong interference and high dynamic circumstance.

The invention discloses a dynamic clustering mechanism-based target tracking method for a wireless sensor network. In the method, an initial cluster head is formed by a method for broadcasting the END values of nodes in a region; the residual energy of the nodes and distances from the nodes to a target are considered at the same time; in the process of selecting the nodes which participate in target tracking, the condition of the residual energy of the nodes is considered, and only the nodes that the received signal strength indicator (RSSI) signal strength of a received target is more than a certain threshold value are selected to participate in the tracking; the concept of a temporary cluster head is introduced into dynamic clustering adjustment, so that the target is not lost in the process of establishing a next cluster; and the target is tracked by a least square method so as to perform curve fitting on the track of the target. Based on a cluster head selecting mechanism with RSSI strength, factors such as a clustering algorithm, the residual energy of the nodes, the RSSI signal strength of the target and the like are considered, so that tracking precision is ensured, energy consumption is reduced, and the service life of the network is prolonged.

The invention relates to a multi-characteristic layered fusion correlation filtering robustness tracking method. In order to improve the robustness of target tracking, aiming at the multi-characteristic fusion problem in correlation filtering tracking, a multi-characteristic layered fusion strategy is provided. HOG characteristics, CN characteristics and color histogram characteristics are extracted from a target area and a surrounding background area respectively. A self-adaption weighting fusion strategy is adopted for integration of characteristic response diagrams of the HOG characteristics and the CN characteristics. A fusion result of a layer and the obtained characteristic response diagrams based on the color histogram characteristics are subjected to second-layer integration, a fixed parameter fusion strategy is adopted for fusion of the characteristic response diagrams. According to the method, under the premise that the tracking accuracy is guaranteed, the tracking robustnessis superior to other algorithms. When multiple characteristics are adopted for a correlation filtering tracking algorithm, the layered fusion strategy has certain reference.

The invention belongs to related technical field of intelligent sensing, and discloses a high-compliance method for guiding a robot to cooperatively work by people. The method comprises the followingsteps: (1) a human-computer cooperation system is provided; (2) the robot is towed for demonstration; a six-dimensional force sensor and a motor encoder of the human-computer cooperation system respectively measure information of force applied by operators and the angle and the angle speed of each joint of the robot; and a computer obtains the terminal speed and pose of the robot through robot kinematics calculation; and (3) the robot motion position and pose desired by the operators at the next time are predicted by adopting a sparse bayesian learning algorithm based on the information obtained in the step (2); and the torque of each joint is compensated through online adjustment of impedance parameters of an impedance controller according to the predicting result and design of a linear secondary adjuster. The method improves the compliance and the demonstration precision of the robot, and reduces the demonstration difficulty of the operators.

A shipborne camera shooting stabilized platform control method with an active disturbance rejection control technology adopted includes the following steps that (1) a discrete time state-space model of a shipborne camera shooting stabilized platform control system is built; (2) a tracking differentiator is designed, and the rotation angle of a camera shooting stabilized platform can track the reference angle as soon as possible without overshoot; (3) an extended state observer is designed to estimate the rotation angle, the rotation angular speed, the rotation angular acceleration and the total disturbance of the camera shooting stabilized platform; (4) tracking errors of the angle, the angular speed and the angular acceleration are obtained according to the output of the tracking differentiator and the output of the extended state observer, and then a nonlinear control rule and a disturbance compensation strategy are designed according to the error information. By means of the shipborne camera shooting stabilized platform control method, the tracking accuracy and rapidity of the camera shooting stabilized platform are guaranteed, and the high disturbance rejection capacity is provided.

The invention discloses an automatic navigation path tracking method for an aquaculture workboat. The method comprises the following steps: 1, collecting the position information of corners reflecting the contour of a work region, and obtaining the target navigation lien and speed of the workboat through track planning; 2, collecting the real-time position, navigation and speed of the workboat, setting the navigation speed of the workboat, and judging whether a target path needs to be switched or not; 3, calculating a tracking target point of the workboat through employing a method of real-time point insertion; 4, enabling the attitude and movement state data of the workboat to be compared with a tracking target point and a target path, obtaining the navigation direction and speed deviation, obtaining the navigation direction and speed control amount through employing the PD and PI algorithms, and finally obtaining the control amounts of left and right paddle wheels; 5, carrying out the real-time navigation control of the workboat according to the final control amounts. The method can remarkably improve the effect of automatic navigation path tracking, and provides guarantee for the high-efficiency completion of aquatic plant cleaning and uniform bait casting.

The invention discloses an output current wave shape control method for a triphase Active Power Filter (APF). A T-shaped filter and a current wave shape controller are adopted to control the output current wave shape of the triphase AFT. The output filter for each phrase bridge arm of an inverter is a capacity connected to the middle point of two inductances connected with each other in series, and form a T-shaped structure, namely T-shaped filter; the calculation method for wave shape controlling is conducting Alfa, Beta, Omicron transformations to instruction current of the triphase APF, actual output current and the voltage of the power network, so as to realize decoupling of the wave shape controlling of the abc triphase output current; and respectively conducting pole assignment to the single-phrase system under decoupled Alfa, Beta, Omicron axis system, and correcting the error between the APF actual output current an the instruction current, so as to get instruction voltage of each phrase under the alfa, beta, Omicron axis system; and at last sending the instruction voltage to a space vector modulating module, so as to confirm the on-off signal of each bridge arm switch tube, thereby causing the actual output current of the PFA to accurately track the instruction current.

The invention discloses a multi-target tracking method and a corresponding video analysis system for implementing the scheme. The method comprises the following steps: acquiring detection position information of a target; obtaining predicted position information of the target; matching the obtained prediction position information with the detection position information; updating the state information of the target based on the detection position of the target under the condition that the detection position information of the target is judged to be matched with the prediction position information of the target; under the condition that it is judged that the prediction position of a certain target has no detection position matched with the prediction position, judging that the target is an extinction target; and judging that the target is a new target or a reappeared target under the condition of judging that the detection position of a certain target is not matched with the detection position of the target. Therefore, through reasonable allocation of the functional modules, high tracking precision requirements can be met while low-computing-power high-speed tracking is realized.

The invention provides an underwater robot three-dimensional path tracking control method based on a second-order filter. Underwater robot three-dimensional path tracking control is carried out by means of a filtering back-stepping method, the second-order filter established on the basis of two underwater robot three-dimensional path tracking kinematics error models is brought in to obtain virtual controlling quantity of postures, virtual controlling quantity of speed and virtual controlling quantity of angular speed and derivatives of the postures, derivatives of the speed and derivatives of the angular speed, then an underwater robot kinetic model is combined, control input of a path tracking controller is obtained and acts on a robot propeller and a steering engine, and therefore tracking of a three-dimensional path is achieved; according to the Lyapunov energy function, filtering feedback compensation items are designed for location and posture control loops, an integration element is led in a speed control loop, a system error compensation loop is constituted, and precision of a tracking system is promoted.

The invention discloses a laser communication capturing and tracking system. A variable-focus liquid crystal lens is combined with a liquid crystal optical phased array and a liquid crystal optical wedge; the receiving powers of a coarse capturing detection module and a fine tracking detection module are detected in real time in a process of capturing and tracking space laser communication; according to change of the optical receiving power, the variable-focus liquid crystal lens dynamically controls the beam-divergence angle of a laser communication system; the beam-divergence angle is self-adaptively controlled in the capturing and tracking process; and the capturing time can be effectively increased while the tracking precision is ensured. Based on the laser communication capturing and tracking system disclosed by the invention, the invention further provides a capturing and tracking method for self-adaptively controlling the beam-divergence angle of the liquid crystal optical phased array; and a laser communication link is established through respective laser communication capturing and tracking systems of two communication sides.

The invention discloses a multi-point preview method and a multi-point preview device thereof. The multi-point preview method comprises the following steps: at least three measurement points are set,and the respective corresponding measurement distances of the at least three measurement points on the target path should satisfy the following requirements: x1=0, x3 & gt; x2 & gt; x1; the distance from the measurement point to the corresponding preview point is the preview point lateral deviation y1, y2, y3. The current actual working condition is decomposed and calculated, that is, the ideal yaw angular velocity omega so is calculated under the condition of considering only the distance deviation between the vehicle and the actual target path; the ideal yaw angular velocity omega ss is calculated only considering the angle deviation between the vehicle and the actual target path. The ideal yaw angular velocity omega _ sw is calculated only under the actual bending condition of the target path. The ideal steering wheel angle delta s of the vehicle is obtained by multiplying omega so, omega ss, omega sw by a predetermined coefficient. The invention can carry out path tracking for different complex paths, ensures path tracking accuracy, effectively improves robustness, and can effectively suppress the influence of time delay, uncertainty and tire force nonlinearity of the actuatorof the vehicle model.

The invention belongs to the technical field of radar system multi-target tracking and discloses a multi-target cognitive tracking method based on a concentrated type MIMO radar under complex environment. The multi-target cognitive tracking method based on the concentrated type MIMO radar comprises the following steps: setting the state (please see the specification for the formula) of the qth target at the moment K and a probability density function of the state; setting a measurement matrix to obtain the conditional probability density of the measurement matrix; calculating a Bayes information matrix (please see the specification for the formula) to obtain the relation a recursive relation between BIMs at the moment K and the moment K+1, and on the premise that the transmitting power is given, calculating the BCRB of a tracking error of the qth target at the moment k+1; establishing a power distribution model and solving the power distribution model, and transmitting a beam with corresponding power to the qth target at the moment K+1 according to a solved result.

Disclosed is a shipborne image stabilization control method based on a gyroscope. A two-degree of freedom shipborne security and protection pan-tilt with a pitch axis and an azimuth axis on basis of stepping motors is used as an image stabilization platform, two different obtained data alfa x and omega y on the pitch axis are subjected to Kalman data fusion filtering that can optimize operation amount and internal storage, and accurate pitch angle theta pitch, pitch angular velocity omega pitch and roll angle theta roll of the pan-tilt are obtained. The obtained theta pitch is input to an improved PD controller to obtain output angular velocity which can control the motor of the pitch axis of the pan-tilt, and influence of rolling movement of a ship body on course angle of the image stabilization platform can be resolved when an image stabilization system is in a non-balance state. The influence is compensated through controlling over the azimuth angle, and finally, the calculated output angular velocity omega out is transmitted to a bottom layer stepping motor driver through a serial bus RS232 for execution. By means of the shipborne image stabilization control method based on the gyroscope, movement disturbance of a shipborne image pickup system can be compensated, eliminated and inhibited, and thereby, purpose of inhibiting image shaking during shipborne image pickup can be achieved.

The invention discloses a Bezier curve control method and system for an AGV. The method comprises the following steps: drawing all preset paths by using a Bezier curve; forming scheduling informationaccording to the task information and the AGV terminal position information and state information, and performing task path planning; using the AGV terminal for issuing the scheduling information andthe task path to execute the task; obtaining a task path and reading geometrical information of each task path section; and performing trajectory tracking on a single task path segment. The method isbased on Bezier curve tracking and fixed-point parking. On the basis of a traditional scheme, optimization is carried out from three aspects of speed, precision and driving posture smoothness; compared with an AGV trajectory tracking method adopting straight lines and arcs, the invention has the advantages that the problem of path irregularity during path planning is solved, an improved pure tracking strategy is adopted, and the method is suitable for various different AGV driving mechanism types, so that the AGV can smoothly operate at a higher speed on the basis of ensuring the precision, and the single-machine operation efficiency is greatly improved.

The invention discloses a motion target tracking method of an asynchronous wireless sensor network, belonging to the technical field of a wireless network and comprising the following steps: establishing a wireless sensor network and performing network location initialization setting; and emitting signals once at an interval of L numbered clock periods, transmitting the corresponding measurement value to a sink node by each sensor node, and synthesizing a measurement vector by the sink node to be used for displacement evaluation and threshold updating. The method in the invention has good numerical stability, especially under the condition of low speed motion, maintains the precision of technical paper, and has good practical prospect in the sensor network with a larger distribution range.

The invention provides a new multi-object tracking and data interconnection method based on whole neighborhood fuzzy clustering. According to the method, measurement distribution in a region is determined, a determination matrix is built in combination with a related wave gate of each object, a statistical distance is built according to a plot-track association rule, a predication position of each object serves as a clustering center, a fuzzy clustering method in fuzzy mathematics is used, probabilities of interconnecting a candidate measurement with different objects in a related wave gate are calculated, and through probability weighted fusion, each object state and a covariance are updated. The method achieves great improvement in the aspect of real-time filter tracking, the tracking precision and the effective tracking rate are close to those in a classical JPDA algorithm, and a new solution is provided for a real-time multi-object tracking problem in clutter environment.

The invention discloses a mirror field dispatching system and method for a tower type solar thermal power generation system. The system comprises a receiver, a heliostat, a light spot imaging device, a light spot collection device, an image processing device and a mirror field control system for switching or regulating the single mirror state of the heliostat to control the whole mirror field. The method comprises the following steps of: correcting the heliostat successfully installed in the mirror field; verifying the corrected heliostat, judging whether the heliostat is verified or not, and seeking the sun by the verified heliostat; repeatedly correcting an unverified heliostat, and taking the heliostat continuously unverified many times as a fault heliostat, wherein the heliostat during sun seeking is needed to be regularly verified so as to solve the problem that the accuracy is lowered due to long term running of the heliostat. Through scientifically and reasonably dispatching the heliostat, correction, verification as well as fault detection and diagnosis of the heliostat are finished on the premise of ensuring the sun seeking efficiency of the mirror field to the maximum, and safe and efficient operation of the mirror field is ensured.

The invention discloses an azimuth device applicable to a vehicular photoelectric turntable. The azimuth device comprises a revolving shaft system, an azimuth shell, a rotary transformer and a torque motor. The revolving shaft system comprises an azimuth dead shaft, an azimuth moving shaft, an azimuth rotating adaptor disc and two groups of bearings, the azimuth dead shaft is connected with the azimuth moving shaft and the azimuth rotating adaptor disc respectively via a first bearing and a second bearing, the first bearing bears biaxial loads, the second bearing is larger in diameter and bears radial and tipping loads, and thereby the rotating disc type revolving shaft system borne by the internal and external bearings is formed. The revolving shaft system as well as the rotary transformer and the torque motor are respectively positioned on an upper side and a lower side of an annular transverse plate in the middle of the azimuth shell and are independent to one another. Furthermore, a comprehensive labyrinth felt collar sealing structure is adopted. The azimuth device has the advantages of simple structure, low height, light weight, good maintainability, excellent expansibility, strong environmental suitability and the like, mechanical characteristics and capabilities of resisting shock, vibration and large-angle inclination of the photoelectric turntable are effectively improved, and tracking precision of photoelectric tracking equipment is guaranteed.

The invention relates to an accurate track subsystem of free space laser communication system, which comprises a lens vibration motor 1, a scanning mirror 2, a scanning mirror 3, a lens vibration motor 4, a F-theta lens 5, a high frame frequency camera 6 and a control system 7. The invention uses the motor 1, scanning mirror 2, scanning mirror 3, and motor 4 to form a two-dimension lens vibration assembly to realize the motion in two-dimension space, and uses the two-dimension lens vibration assembly and the F-theta lens 5 to form a new fine adjustment mechanism to expand track range, with confirmed track precision and track speed, while the maximum track range can reach +-5 degrees and the cost is reduced 35-40%.

The invention relates to a digital physical hybrid simulation general interface system of a power primary system, and belongs to the technical field of real-time simulation of power systems. The digital physical hybrid simulation general interface system comprises a high-speed communication card, a signal distributor and a sensing measurement channel, wherein the high-speed communication card is used for receiving a calculation result of a real-time digital simulation platform to a virtual power system and a measurement result of an actual power system and sending the calculation result and the measurement result to the real-time digital simulation platform; the signal distributor is used for receiving the calculation result and the measurement result and sending the results to a power amplification channel for amplifying the calculation result to a required power grade and switching power with the actual power system; and the sensing measurement channel is used for measuring a relevant voltage amount and / or current amount of the actual power system. The general interface system guarantees the synchronism and the instantaneity of digital simulation and physical simulation and the communication precision and the communication distance of the interface system and guarantees the convenience in upgrading of interface parameter performance and the tracking precision of the interface system for amplifying low-frequency component power.

The invention provides a frequency tracking method of discontinuous carrier phase signals and aims to provide a method for realizing frequency synchronization without depending on identification for phase change rates. The method is implemented through the technical scheme: within an uncertain range of Doppler frequency offset, a plurality of groups of frequency slots are obtained by division at equal intervals or unequal intervals; a numerical control oscillator corresponding to each frequency slot of a receiver generates a sine signal and a cosine signal; the local sine signal and the local cosine signal of the receiver demodulate an input digital intermediate frequency signal subjected to AD (analog-to-digital) conversion respectively; an integral value of each frequency slot is acquired through a de-spreading module; a frequency difference is identified according to the integral values of the plurality of frequency slots; the frequency difference is processed by a loop filter, so a frequency control word is obtained; the frequency control word is directly sent to a main slot numerical control oscillator to generate a main slot local signal; the frequency control word is added with a branch slot value to acquire a branch slot frequency control word; the branch slot frequency control words Fcw are sent to branch slot numerical control oscillators to generate branch slot local signals; and therefore, a frequency tracking closed loop for a carrier phase discontinuous system is formed.

Provided is a moving target tracking method based on multiple-sampling-rate multiple-model fusion estimation. The method comprises the following steps: a wireless sensor network is divided into m clusters, and state space models at different sampling rates are established; a cluster head node obtains a local estimation result through an EKF method; and a fusion center synchronizes all local estimations to the same time point, obtains a fusion estimation result through a CI fusion method, and adjusts the sampling rate of a network node according to an estimated value of the target velocity and energy information of the cluster head node. The provided moving target tracking method based on multiple-sampling-rate multiple-model fusion estimation can reduce the energy consumption of the sensor network and improve the flexibility on the premise of ensuring the tracking accuracy, robustness and fast response ability.

The invention relates to a navigation data processing method and system. The method comprises the following steps: S1, an input intermediate frequency signal and a carrier signal are subjected to carrier stripping by a mixer; S2, a lead correlation value, an instant correlation value and a lag correlation value are output after a navigation signal and a local pseudo code pass through a correlator; S3, lead and lag navigation data signals enter a code loop phase discriminator, are filtered by a code loop filter and then enter a local pseudo-code generator to make thus generated pseudo code same as that of the intermediate frequency signal in term of phase; S4, an instant road navigation data signal enters a carrier loop phase discriminator, enters a carrier digital control oscillator via the filter, wherein the phase of the carrier generated by the instant road navigation data signal is the same as that of the carrier generated by the intermediate frequency signal. The system comprises a signal input module, a correlator processing module, a code loop processing module and a carrier processing module. The method tracks the motion state of the carrier, improves the tracking accuracy, and obtains an accurate observation value.

The invention relates to a hypersonic aircraft robust control method considering attack angle asymmetric constraints. The hypersonic aircraft robust control method regards an attack angle as a systemstate by considering a height tracking situation, designs a control law on the basis of an asymmetric barrier Lyapunov function, introduces attack angle tracking error asymmetric constraint information into the control law, guarantees that errors are limited in a preset asymmetric interval, meanwhile, performing amplitude limiting on attack angle virtual control, combines the errors and the attackangle virtual control to achieve the attack angle asymmetric constraints, and guarantees the normal operation of a scramjet engine. Considering uncertainty of the system, a robust term is added to estimate an upper bound of an unknown nonlinear function in the design of a controller, and the influence caused by the uncertainty is compensated. The hypersonic aircraft robust control method designsthe PID controller for a speed subsystem to realize speed tracking.

A sun tracking method and equipment for utilizing solar energy is disclosed. The daily apparent moving time of the earth rotation and the annual apparent moving time of the earth revolution are respectively divided into time intervals for regulation. The angle variations between any point on the earth and sun in each regulation-time interval are requentially mapped to the rotation angle regulating gear and elevation angle regulating gear respectively to generate unequal angle interval relative to fixed time interval. A servo mechanism is used to regulate an angle for each time interval.

The invention proposes a spherical phased array single pulse digital tracking system and aims to provide a sum-difference beam tracking system without tracking phasing and with the capability of improving the over-top tracking performance. The system is implemented according to the following technical scheme: vector tracking angle error extraction equipment is used for extracting azimuth difference voltage and pitching difference voltage according to the sum, azimuth difference and pitching difference beam digital signals, a direction vector in the current three-dimensional cartesian coordinate system is converted into an error voltage of each component of the vector, which is sent into an angle tracking loop for vector tracking; the vector angle tracking equipment is used for expressing the current target azimuth and the pitching as the direction vector in the three-dimensional cartesian coordinate system, the error voltage of each component of the direction vector extracted in the three-dimensional cartesian coordinate system is sent into the angle tracking loop for vector tracking, the direction vector output by the tracking loop is converted into azimuth and pitching values obtained by tracking, which are fed back to all-digital single-pulse sum-difference beam forming equipment to achieve closed-loop feedback of target direction vector tracking.

The invention discloses a self-adaptive torque compensation device and a working method of a trough-type solar collector in the field of automation of solar energy development. The self-adaptive torque compensation device of the trough-type solar collector comprises heavy objects, a transmission mechanism and angle sensors, wherein the transmission mechanism is connected with a bracket on an outermost keel of a collector array; and the heavy objects can change position under the driving of the transmission mechanism. The working method comprises that the positions of the heavy objects are controlled by deflection signals transmitted by the angle sensors, and then the purpose of torque compensation is reached. By the self-adaptive torque compensation device and the working method, tracking precision of the trough-type solar collector is guaranteed, and the collector is ensured to work stably and efficiently. By the self-adaptive torque compensation device, torque loss of the trough-type solar collector during the rotation process, due to various reasons, can be regulated in time, the tracking precision of the trough-type solar collector is increased, and heat-collecting efficiency of the collector is improved.

The invention discloses a multi-target tracking method based on measure-driven target birth intensity PHD (MDTBI-PHD), mainly solves the problems in estimating the multi-target motion state and the number of targets when the target birth intensity is unknown. The method comprises the steps of estimating the target state and the clutter state respectively by using an augmented state-space method, thereby avoiding the interference of unknown clutter to the target intensity estimation; constructing a target birth measure set, and estimating the target birth intensity by using a measure-driven method, thereby avoiding dependence on the priori knowledge of the target birth intensity; and implementing the above method using Gaussian mixture probability hypothesis density filter. The method has the advantage of being sensitive to the change in the number of targets, and meanwhile can reduce the computational complexity and significantly improve the tracking accuracy.

The invention discloses an extended target stable tracking point extraction method based on local and global coupling. According to the method, preprocessing such as denoising and enhancement is performed on an image to be processed; a GMS (Grid-based motion statistics) algorithm is used to perform feature point matching on two adjacent frames of images; generalized Hough transformation is performed on matched feature points, and features that contribute to the peak points of an accumulator are obtained and are adopted as basic feature points; the homography mapping matrix of the feature points of the two adjacent frames of images is obtained by using the basic feature points; and a feature point of sub-pixel precision of a current frame of image which is obtained by means of mapping on the basis of a tracking point of a previous frame of image is calculated through using the homography mapping matrix, and the feature point is adopted as the tracking point of the current frame of image. The tracking point obtained by using the method of the invention is a virtual global feature point which is obtained by means of mapping on the basis of a plurality of local matched feature points on a target; and a condition that the target always has stable and obvious features is not required. The method has high robustness to the translation, scale, illumination, blur, attitude and self-occlusion of the target, and even changes such as the escape of a part of the region of the target from a field of view.