| A Study for Vision-based Estimation Algorithm of Moving Target Using Aiming Unit of Unguided Rocket |
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Jin-Mo Song, Sang-Hoon Lee, Joo-Cheol Do, Tai-Sun Park, Jong-Sue Bae |
1Department of Sensor Systems, Defence R&D Center, Hanwha Corporation
2Department of Tactical Missile Systems, Defence R&D Center, Hanwha Corporation |
| 무유도 로켓의 조준 장치를 이용한 영상 기반 이동 표적 정보 추정 기법 연구 |
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송진모, 이상훈, 도주철, 박태선, 배종수 |
1(주)한화/방산 종합연구소 핵심기술2팀
2(주)한화/방산 종합연구소 전술체계팀 |
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| Abstract |
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In this paper, we present a method for estimating of position and velocity of a moving target by using the range and the bearing measurements from multiple sensors of aiming unit. In many cases, conventional low cost gyro sensor and a portable laser range finder(LRF) degrade the accuracy of estimation. To enhance these problems, we propose two methods. The first is background image tracking and the other is principal component analysis (PCA). The background tracking is used to assist the low cost gyro censor. And the PCA is used to cope with the problems of a portable LRF. In this paper, we prove that our method is robust with respect to low-frequency, biased and noisy inputs. We also present a comparison between our method and the extended Kalman filter(EKF). |
| Key Words:
Computer Vision, Moving Target, Aiming Unit, Rotational Angular Velocity, Target Estimation, Range-bearing Measurement |
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