为了提高机电跟瞄平台的图像跟踪精度,针对波门跟踪方法,从脱靶量的预测、图像信息的滞后和伺服系统的动态精度3个方面入手,定性分析了它们对波门设计的影响。以此为基础,建立了目标空间角运动的Kalman运动模型,获得目标角运动参数的估计,并综合考虑图像传感器的滞后,推导了预测脱靶量的公式,完成了自适应波门的设计。最后以汽车为目标对常规波门和自适应波门进行了跟踪实验。

Window-tracking was studied in order to improve the image tracking accuracy of the electro-optical tracking & pointing platform.The estimation of miss distance, delay of image information, and dynamic precision of servo system,which have direct effect on the window’s design were analyzed qualitatively.And then, the Kalman motion model for the target’s angle-motion was built for obtaining the parameters of angle motion.Then, considering the image-sensor’s delay, the formula for miss-distance prediction was derived, and the design of adaptive window was completed.Finally, tracking experiment was carried out on conventional window and adaptive window by taking the automobile as the target.