OBJECT TRACKING METHOD, OBJECT TRACKING SYSTEM AND OBJECT MOTION COMPENSATION METHOD Russian patent published in 2024 - IPC G05D3/12 

FIELD: control over mobile objects tracking systems.

SUBSTANCE: object tracking method consists in discrete reception of tracking object measured coordinates from tracked object, converting tracking error signals for each video signal source into a stabilized coordinate system, calculating output tracking control signals, conversion of output control signals into a measuring system of coordinates, discrete reception of measured stabilization errors and subsequent calculation of correction of the position of the center of the field of view based on the stabilization errors. In the process of stabilization, coordinates of the center of the field of view are taken at discrete moments of time, from which compensation is calculated, which takes into account the movement of the tracked object, and the change in the position of the field of view is calculated in accordance with the correction and taking into account the compensating connection. Object tracking system consists of series-connected optoelectronic direction finder, computer system, a tracking drive mechanically connected to an optoelectronic direction finder and a gyroscopic sensor, a tracking drive angular velocity measurement sensor, which is mechanically connected to the tracking drive. Computer system consists of series-connected first and second computers, allowing to process signals coming from the optoelectronic direction finder and based on them to form control of the tracking drive of the optoelectronic system. Object motion compensation method consists in discrete reception of measured stabilization errors and subsequent calculation based on measured errors of measurement field position correction, wherein during stabilization at discrete moments of time coordinates of the field of view are calculated, compensation based on measured coordinates taking into account the inverse model of the dynamics of change in the position of the center of the field of view and correction of the position of the field of vision taking into account the obtained compensation. Angular velocity or angular velocity and acceleration of change of its position are used as coordinates of the field of view.

EFFECT: invention provides higher accuracy when performing tasks of tracking high-speed maneuverable objects due to consideration of object motion parameters, introduction of stabilization algorithms and compensating links, as well as use of data from sensor for determining angular velocities of the tracking drive of the optoelectronic system.

5 cl, 2 dwg