基于图像EKF跟踪的水下激光通信APT方法

Image EKF tracking based APT Method for Underwater Laser Communication

针对水下激光通信的自动对准问题,提出了一种基于图像扩展卡尔曼滤波器(Extended Kalman Filter,EKF)跟踪的APT方法。通过水下相机获取激光光斑图像,利用Canny算子和Hough圆变换对激光光斑实现精确定位。根据相机标定原理建立APT对准的像素坐标转换模型,利用目标定位数据的滤波处理获取较为稳定的水下激光通信对准效果。水下实际测试结果证明,所提方法可以提高目标对准的速度和准确性,适用于近距离水下激光通信领域。

Aiming at the automatic direction alignment problem of laser based underwater communication,an extended Kalman filter(EKF)tracking based APT method using underwater laser spot image is proposed,where the famous Canny operator and Hough circle transform are used to locate the underwater laser spot.According to the principle of camera calibration,pixel coordinate conversion model of APT direction alignment is established.Moreover,EKF is used to filter the target positioning data,and finally relatively stable underwater laser communication alignment results are obtained.Actual experimental results verify that the proposed algorithm can improve the approaching speed and accuracy of direction alignment,so it is suitable for short-range underwater laser communication.