The field of view of optical imaging systems is limited, making it difficult to meet the needs of continuous tracking of multiple targets in different orientations in a wide spatial domain, even in the 4 π spatial domain. Therefore, based on the two-dimensional tracking rotating platform, an unscented Kalman motion estimation algorithm based on target motion characteristics and an optimization algorithm for multi-objective switching tracking based on motion target matching, tracking convergence, and platform rotation ability have been proposed. The ultimate goal is to achieve continuous tracking of multiple spatial targets over a wide area. The development of a light and small space two-dimensional rotating platform tracking system is completed. The target detection coverage achieved is better than ± 180° in both pitch and azimuth directions. Continuous observation and tracking of better than 8 targets has been achieved through target motion estimation and switching tracking methods.
The diversity of motor controllers in terms of drive methods, feedback acquisition, and control strategies leads engineers to waste a lot of time and effort in building the underlying interfaces and functional module interactions for mechatronic system design. The FPGA design of general control of the stepper motor based on the factory method pattern splits the general control functions into relatively independent sub-functions such as communication expansion, task scheduling, feedback acquisition, control expansion, on/off control, loop distribution, and drive binding. It maps functional requirements to each sub-factory class according to the design thinking of dependency inversion, realizing the decoupling of basic control attributes and complex control strategies. Therefore, it speeds up the software development and improves the portability of the program.
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