Vision Tracking Servo System In Rocket Launching

As an important part of the visible tracking for the rocket launching, this thesis take the camera as the information source, and research the identification and tracking of the rocket, in order to provide complete flying data and image record of the rocket launching phase. This thesis is based on template matching and image threshold segmentation. Two typical moving object tracking methods, in the daytime and at night, in continuous video image are emphasized. To realize the rocket identification and tracking, the system use technologies as follows: edge detecting, correlative matching, threshold segmentation and fuzzy control, etc. A while after the rocket launching, the visibility of the rocket is a very important part for the command decision-making. especially, when some launching error occurs,(such as flying error), the traditional outside detecting system are hard to capture the target, so hardly the command controller can get the rocket flying data, let alone making the correct decision. So, at the launching phase of the rocket, using the camera for auto-tracking is very important. But now, the recent method is still using the manual-tracking, in which the security and the reliability are degraded. At the mean time, several cameras are hard to cooperate to realize the multi-angle tracking. Therefore, this thesis focus on the rocket launching & flying process' target identification arithmetic and control arithmetic, and research the rocket servo tracking, which based on the continuous video moving image. In the daytime, the rocket's image may be partly covered, and the Figure image may be vitiated. To increase the system's robustness, this thesis provides a easy method named " multi-template combining judgement", which is an extension for traditional template arithmetic. Generally speaking, this thesis provides a camera auto-tracking, which is based on the image processing and fuzzy control. First, standard video signal, which transferred from the camera, is processed by the correlative matching, in order to identify the target's location and moving trend. Then, data is implemented by the fuzzy control method. Finally, command is transferred to the platform via 485 bus to control its movement, making the camera always aim to the target. So that the continuous auto-tracking is implemented, and the stable rocket flying image is made.