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Research on the Real-Time Motion Parameters Measuring System

Author: ZhuYongLi
Tutor: MaPing
School: Harbin Institute of Technology
Course: Navigation,Guidance and Control
Keywords: Visual Measurement Image acquisition Real-time processing of the image Feature point tracking Motion Parameter Estimation
CLC: TP274
Type: Master's thesis
Year: 2011
Downloads: 34
Quote: 0
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Abstract


In the field of aerospace, robotics research, the motion parameters of the object of study not only can correct its inertial measurement unit drift, and can be used as an important basis for the identification of experimental results and determine the cause of the accident. In addition, some applications require real-time monitoring target movement developed rigid object motion parameters of the real-time measurement system is imperative. To this end, we do the research work of the following aspects: First of all, the real-time measurement system designed rigid object motion parameters. Target motion parameters of visual measurement system overall program design visual measurement principle based on the motion parameters of the feature line and the coordinate system is a method based on the measurement principle for multi-camera synchronization problem, design a multi-camera external trigger synchronization program; and simple hardware measurement system and development environment. Second, the study of real-time acquisition and LabVIEW FPGA-based image detection and coordinates of the feature points extraction algorithm. NI FlexRIO FPGA-based high-speed image acquisition and processing system, the the FIFO transmission technology, ping-pong operation techniques and DMA transfer technology to achieve a real-time image acquisition and display functions; rapid detection and coordinates for the feature point extraction problem, combined with FPGA parallel processing capabilities proposed an improved template detection operator to quickly and repeatedly detecting the characteristic point, and then using the pipeline technology operation to achieve a high precision extraction of the center of the feature point coordinates of the gradation center of gravity method grading. Then, the feature real-time motion tracking and target motion parameters estimation problem. In the measurement process, the feature points lost due to restrictions and other reasons, because of the camera's field of view, or a large number of pseudo-point to the problems encountered in the practical application of the re-entry of the feature points are difficult to track or unable to distinguish the authenticity of points. To solve this problem, this paper based on motion smoothness constraint thinking of establishing a sports model of the feature points, and trajectory optimization algorithm search feature points to solve the case of occlusion and pseudo-point motion tracking feature points; same time, in order to improve the measurement accuracy of the motion parameters and deal with the real-time estimates of the motion parameters under occlusion problem, this paper established a motion parameter estimation model based on the characteristic line, and focus on the measurement model equation is derived transfer matrix, and ultimately the use of the extended Kalman filter algorithm to achieve a real-time estimation of motion parameters. Finally, the design of the measurement system software and hardware platform, a group of rigid object motion parameters in real-time measurement of dynamic experiments, and the experimental results are analyzed.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Data processing, data processing system
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