Implementation of Line-of-Sight Stabilization Gimbals and Object Tracking System Using DSP

摘要

The line-of-sight (LOS) stabilization system is a precision electro-mechanical gimbals assembly for suppressing vibration due to its environment and track the target in a desired direction. This paper describes the design of gimbals system to reject the disturbance and to improve stabilization. The controller is a DSP with transducer and actuator interfaces. Unknown parameters of the gimbals are estimated using the signal compression method. The cross-correlation coefficient between the impulse response from the assumed model and the one from model of the gimbals is used to obtain the better estimation. SMCSPO (sliding mode control with sliding perturbation observer) is used to control the gimbals. KLT (Kanade-Lucas-Tomasi) Feature Tracker is used for tracking object. KLT is accurate and robust with small displacement between two frames. We propose a searching window on image and a method for using the feature point within searching window. The proposed method reduces the error which is occurred by disappeared feature point and provide accurate information to gimbals controller to accomplish the stabilization LOS.