Design And Implementation Of UAV Electro-optical Pod Control System Based On FPGA

With the rapid development of economy, the distance and range of high voltage overhead transmission lines are increasing, the traditional inspection methods have become more and more unsuitable for the inspection of high voltage power lines. In recent years, with the rapid development of UAV, it provides a new way for the power inspection: UAV inspection.UAV inspection is using by in the UAV electro-optical pod of visible light, infrared thermal image instrument optical devices such as access to power lines, towers, insulators, etc. the goal of image information, achieve the telemetry inspection to the power line.During the process of UAV flight, photoelectric stabilized pod for photoelectric imaging device to provide a stable work environment, the implementation of moving object real-time acquisition and tracking. At present a type without man-machine line patrol pod control system using FPGA and DSP processing architecture, to complete the control pod stability control and target tracking system circuit components, large volume, with a heavier weight. In order to further enhance the system performance index, this paper of the original system was improved by monolithic FPGA Kintex-7 series as processing chip of the control system, the completion of the tracking algorithm is transplanted; system configuration of the Micro Blaze soft core processor to achieve the image tracking algorithm.The improvements to further improve the system reliability, reduce the weight and volume of the circuit system, meet the reduction of the load weight of electro-optical pod requirements.Firstly according to the general requirements of the system and the constitute of the system, divides the function module design hardware architecture, and use this framework to complete the hardware circuit design; based on the principle of isolation carrier angular motion of the optoelectronic pod, electrical module functions of the system in the analysis based on the established electro-optical pod stable control loop and the electro-optical pod tracking control loop’s mathematical model and according to the requirements of the stability and tracking accuracy, application of MATLAB were simulation. It is proved that the model is correct. On this basis, the VHDL language to complete the control algorithm programming and debugging; based on the C language, in the Microblaze to complete the image correlation tracking, centroid tracking, multi mode tracking algorithm design and debugging.Experimental results show that the design of FPGA based photoelectric patrol line pod system, to achieve a stable platform and tracking functions, basically meet the requirements.