摘要
讨论一种基于多传感器的反直升机智能雷AHM(Anti-Helicopter Mine)系统。为了提高智能雷的全自动智能跟踪能力和打击精度,在传统的被动声探测技术的基础上,结合图像传感器的视觉信息和激光测距仪的深度信息,提出一种基于声-光-电多传感器联合的自动目标探测、识别、跟踪算法。首先将五元十字声源定位技术用于低空目标探测和初始定位,然后对目标进行图像处理与特征提取,最后基于图像特征的视觉伺服跟踪算法得出伺服机构的旋转角以实现精确跟踪。
Discussed a tracking system for anti-helicopter mine (AHM) tracking system based on multi-sensors, in order to increase the ability of automatic tracking and the higher firing accuracy. Based on the traditional passive acoustic localization technology, a multi-sensor integrated automatic detection and real-time tracking algorithm is proposed with a variety of sensors and electronic measuring devices, such as acoustic sensors, image sensors and laser range finder. Firstly the target is initially located by the positive acoustic localization technology, then attract the target image feature by image processing, According to based-on-image visual servoing algorithm, the desired target error signal for precise tracking is used to control the servo mechanism to track precisely.
出处
《电子技术应用》
北大核心
2011年第11期92-96,共5页
Application of Electronic Technique
关键词
反直升机智能雷
多传感器
声源定位
图像雅克比
视觉伺服
anti-helicopter mine
multi-sensors
sound localization
image Jacobian matrix
visual servoing