基于超宽带技术的运动目标跟踪高精度定位系统设计

Design of high-precision positioning system for moving target tracking based on ultra wideband technology

摘要:

为克服运动目标不断变化导致跟踪定位精度较低的问题,设计基于超宽带技术的运动目标跟踪高精度定位系统。图像采集模块由FPGA单元、VGA显示单元、帧缓存单元以及图像采集单元构成,以此实现运动目标跟踪与定位中的图像采集,在超宽带技术模块中,设计超宽带运动目标定位所需的天线、定位基站、移动节点,完成超宽带动态组网,实现硬件系统的设计。基于硬件系统采集到的图像,实施图像灰度化处理、形态学滤波处理,以增强图像中有用的信息,设计TLD运动目标跟踪算法,随着运动目标开始运动,TLD模型会不断学习跟踪的运动目标,获取目标在距离、景深、角度等层面的改变,并不断学习、识别,达到良好的跟踪效果,基于超宽带技术设计运动目标动态定位算法,依据跟踪结果实现运动目标的高精度定位,完成软件系统的设计。实验测试结果表明,该系统在中、远距离目标跟踪与定位实验中跟踪错误率低于0.60%、2.4%,沿着S 型运动时,路线弯折处的定位误差较低,与实验运动目标的飞行路线相贴合,具有良好的定位能力。

Abstract:

To overcome the problem of low tracking and positioning accuracy caused by constantly changing moving targets, a high-precision positioning system for moving target tracking based on ultra wideband technology is designed. The image acquisition module consists of an FPGA unit, a VGA display unit, a frame buffer unit, and an image acquisition unit to achieve image acquisition in moving object tracking and positioning. In the ultra wideband technology module, the antenna, positioning base station, and mobile node required for ultra wideband moving object positioning are designed to complete ultra wideband dynamic networking and achieve hardware system design. Based on the images collected by the hardware system, implement image graying processing and morphological filtering processing to enhance the useful information in the image, design the TLD moving target tracking algorithm. As the moving target starts moving, the TLD model will continue to learn the tracking moving target, obtain the target changes in the distance, depth of field, angle and other levels, and continue to learn and identify to achieve good tracking results, design a dynamic positioning algorithm for moving targets based on ultra wideband technology, achieve high-precision positioning of moving targets based on tracking results, and complete the design of the software system. The experimental test results show that the tracking error rates of the system in medium and long distance target tracking and positioning experiments are less than 0.60% and 2.4%, and the positioning error at the bend of the route is relatively low when moving along the S-shape, which is in line with the flight path of the experimental moving target and has good positioning ability.