Image stabilizing method of airborne tripod head moving target autonomous tracking system

Abstract

The invention relates to an image stabilizing method of an airborne tripod head moving target autonomous tracking system based on human eye-like complex movement, which comprises an unmanned aircraft, and a flying control system, an airborne tripod head video camera, an airborne image processing unit and an airborne bionic control microprocessor. The method comprises the following steps that: a posture sensor measures the posture location of the small unmanned aircraft, a visual sensor acquires the target information of the video camera, after corresponding analog / digital (A / D) conversion and digital filtration, the information of posture location and the information of the video camera are operated and processed according to the input relation of established eyeball composite movement, the relevant deviation between a tracked target and the optical axis of the video camera is obtained, corresponding scale conversion is carried out, the processed information serves as a control law of an airborne tripod head controller to respectively control an airborne tripod head motor and realize the characteristics of the eyeball composite movement. The method can regulate an airborne tripod head in real time through the steps according to the position information of the tracked moving target and the posture information of the unmanned aircraft, so that the unmanned aircraft can autonomously track a suspicious moving target in an uneven environment and play a certain role in stabilizing a tracked image.

Description

technical field [0001] The invention relates to an image stabilization method for a target autonomous tracking system, in particular to an image stabilization method for an airborne pan-tilt target autonomous tracking system based on human-like compound motion. Background technique [0002] Autonomous tracking of dynamic targets is the key technology of visual monitoring and surveillance systems. In some specific monitoring systems, cameras are often installed on some small unmanned aerial vehicles. By effectively controlling the attitude information and airborne pan / tilt of small unmanned aerial vehicles, the tracked ground moving target is always kept at the center of the image, and Send the image back to the ground command center, assist the monitoring personnel to track and monitor suspicious targets, expand the scope of monitoring, reduce the labor intensity of monitoring personnel, enhance the reliability of monitoring, and have a wide range of military and civ...

AI Technical Summary

Problems solved by technology

However, in the autonomous tracking system of moving targets, due to the complex unstructured environment, dynamic changes in target positions, attitude changes of small unmanned aerial vehicles, and body vibrations, the compensation range for adjusting the servo pan / tilt only through image processing methods Small, poor image stability, prone to target loss during tracking

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