Research On Target Tracking And Servo Control Technology Of Vehicle-mounted Photoelectric Stabilized Platform For Border And Coastal Defense

The photoelectric stabilized platform is an optical,mechanical and electrical monitoring equipment.It can search,aim and track moving targets through sensors,which is widely used in military and civilian fields.Border and coastal defense patrol vehicles are used to complete the monitoring task of nearby suspicious targets,the higher requirements are put forward for target tracking and servo control of photoelectric stabilized platform.Border and coastal defense patrol vehicles are used to complete the monitoring task of nearby suspicious targets.In the work,higher requirements are put forward for target tracking and servo control of photoelectric stabilized platform.Firstly,the structure and control principle of the photoelectric stabilized platform are analyzed.Starting from the overall structure of the platform,the components of the system and the two-axis and four-frame structure are summarized,the frame coordinate system is defined,the frame and axis motion coupling calculation is completed,and the control principle of the photoelectric imaging tracking system is summarized.Secondly,typical algorithms in the field of target tracking are compared and analyzed.The basic principles of seven typical target tracking algorithms including KCF,SAMF,SRDCF,ECO,Siam FC,Siam RPN and Da Siam RPN are introduced,and the experimental results applied to six video sequences are given.On the basis of comprehensive analysis and comparison of tracking performance,Da Siam RPN is clearly taken as the video tracking algorithm in this paper.Thirdly,the model updating problem in Da Siam RPN algorithm is improved.Based on the detailed introduction of Da Siam RPN algorithm,the shallow network model updating strategy is proposed to improve the existing model updating problems of Da Siam RPN algorithm.The test results show that the algorithm with shallow network model updating has higher accuracy and success rate than Da Siam RPN algorithm.Next,the servo control strategy of photoelectric stabilized platform is studied.The sliding mode variable structure control strategy is introduced and the controller is designed.The problems to be improved are analyzed and the fuzzy control strategy is introduced.The fuzzy sliding mode variable structure controller is proposed to overcome the chattering problems.The improved controller can stably track the ideal curve in a shorter time,and the tracking accuracy and stability performance are better.Finally,the system design and experimental analysis of the photoelectric stabilized platform are completed.The experimental scheme,experimental principle and experimental environment of the photoelectric stabilized platform system were determined,and the hardware configuration of the platform is selected,and the target tracking strategy and servo control strategy were verified.The experimental results show that the proposed method is effective.