Research On Moving Target Filtering And Tracking Control Based On PTZ Camera

With the rapid development of computer technology,intelligent video surveillance systems are increasingly being applied to people's daily lives.Active camera servo tracking is an important prerequisite for the successful application of the system.The servo tracking of PTZ camera generally has the characteristics of noise,maneuvering target discontinuity and control command response lag.It has brought great challenges to the research of servo control strategy of PTZ camera.In addition,the previous control strategy is mainly based on simple PID and other traditional algorithms,and the hysteresis characteristics of the system system and the uncertainty of the model are less considered.At the same time,how to effectively track the complex target motion trajectory is rarely discussed.The tracking process often has a state of delays,noise which is difficult to filter out and other issues,which seriously affect the tracking effect.In view of the above problems,this paper mainly studies the maneuvering target trajectory smoothing filter and the design of the PTZ camera servo controller.Firstly,using the combination of mechanism modeling and least squares identification modeling,the mathematical model of the horizontal axis and vertical axis of the PTZ camera is established,which lays a good foundation for the subsequent controller design.Secondly,the HHT filter is designed for the PTZ camera target tracking track with noise component and maneuverability.The filter not only can better preserve the maneuverability of the trajectory,but also effectively filter out the noise signal in the trajectory and smooth the trajectory,thereby further reducing the jitter of the PTZ camera and protecting the device.Then,based on the PTZ camera model of BRC-Z330 produced by SONY,a new type of cascade PID controller and sliding mode-predictive controller were designed and tested on the BRC-Z330 platform.The experimental results show that the two controllers can achieve the fast and smooth requirements of PTZ camera servo tracking,and the tracking accuracy is high.Finally,in order to facilitate the practical engineering application of the algorithm,the design of PTZ tracking controller software module is discussed.The module design is based on the principle of encapsulation and interface abstraction,taking into account not only the simplicity of the external interface,but also the flexibility and scalability of the module,so as to adapt to more complex applications,and the module's reusable rate is ensured.