移动信标光跟踪仿真研究

Simulation on Mobile Beacon Tracking

针对移动信标光跟踪系统的高精度和高稳定性的要求,设计了移动信标光跟踪仿真系统。采用双DSP和两轴精密转台搭建了粗跟踪的硬件平台。采用中值滤波来消除光斑图像的噪声干扰,质心算法实现对光斑位置的精确提取。采用仿人智能PID控制来改善系统动态跟踪性能,增强了系统对不确定因素的适应性。进行了模拟仿真台运动下的二维动态跟踪实验,实验结果表明跟踪系统有较好的跟踪精度。

The simulation system is designed for the requirements ot high precision anu t^g- stability of mobile beacon tracking. Dual DSP and two-dimension precise rotating floor are adopted to construct the hardware platform of coarse tracking. The applied median filtering can eliminate the noise spots from the light spot image and centroid algorithm can collect its coordinates precisely. The tracking controller is designed based on human--simulating intelligent PID, which improves the dynamic performance and enhances the adaptability for uncertainties of the system. The dynamic tracking experiments of two-dimension rotating floor were carried out based on mobile platform. The experimental results prove the better tracking accuracy of the designed system.