The Object tracking Algorithm of TV Guiding System for UAV Based on Particle Filter

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The Object tracking Algorithm of TV Guiding System for UAV Based on Particle Filter

Article | 更新时间：2020-08-12

- The Object tracking Algorithm of TV Guiding System for UAV Based on Particle Filter
- Optics and Precision Engineering Vol. 16, Issue 1, Pages: 134-140(2008)
- 作者机构：
  
  北京理工大学信息技术学院电子工程系
- 作者简介：
- 基金信息：
- DOI：
  CLC：
- Received：01 May 2007，
  
  Revised：31 July 2007，
  
  Published Online：22 January 2008，
  
  Published：22 January 2008
- 稿件说明：
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赵鹏. 基于粒子滤波的无人机电视导引系统目标跟踪算法研究[J]. 光学精密工程, 2008,16(1):134-140

The Object tracking Algorithm of TV Guiding System for UAV Based on Particle Filter[J]. Optics and precision engineering, 2008, 16(1): 134-140.
赵鹏. 基于粒子滤波的无人机电视导引系统目标跟踪算法研究[J]. 光学精密工程, 2008,16(1):134-140 DOI：

The Object tracking Algorithm of TV Guiding System for UAV Based on Particle Filter[J]. Optics and precision engineering, 2008, 16(1): 134-140. DOI：

摘要

为了实现直接攻击无人机的自动导引，设计了一种适用于小型攻击无人机的可见光电视导引系统，介绍了系统硬件构成。针对图像跟踪中的非线性滤波问题，采用了粒子滤波算法。在分析了粒子滤波算法中的退化现象后，设计了一种新的重采样算法。算法中样本的权值将直接决定这个样本是否应该被保留或者放弃，和这个样本以后的使用次数，权值大小的区分采用基于统计学分析的起始值。在粒子滤波的框架下，具体提出了一种基于粒子滤波的相关跟踪算法。算法仿真表明新的粒子滤波算法跟踪精度比以前的算法有较大提高。

Abstract

In order to realize auto guidance for attack UAV

a TV guiding system was designed. To solve the nonlinear filter problem in guidance system

the particle filter algorithm is proposed. A resampling algorithm was put forward after a careful analysis on the degeneracy phenomenon. The weight value of each sample was directly used to determine whether this sample should be kept or be discarded and how many times a sample should be reused. An adaptive threshold based on statistical analysis was employed here to classify the small weights and the large ones. A correlation tracking method based on particle filters was proposed. The experimental results indicate the guidance precision of new resampling algorithm excelled the old one .

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Related Institution

Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences

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