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GPS assisted stabilization and tracking for a camera system
Linköping University, Department of Mathematics, Mathematics and Applied Mathematics. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Mathematics, Mathematics and Applied Mathematics. Linköping University, Faculty of Science & Engineering.
2017 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Today in most vehicles in battle, a camera system is used to manually lock a target and maintaining visual of the target as the vehicle is moving. In order to simplify this, this thesis investigates the approach to semi-automate the process by first manually locking the target and then let the camera approximate the trajectory of the enemy vehicle. In this thesis, the enemy vehicle is not moving.

The ability to provide a truthful simulation environment for testing is crucial and will be discussed in this thesis along with three different estimators derived from the Kalman filter. Parameter identification and dynamic modelling of the camera are also presented that serves as a basis for the part of automatic control and for the experiments on the hardware.

The simulation environment gave promising results when locating the target based on angle and radius estimation. By simulating a human operator, big deviations from the true value was no longer a problem since its purpose is to take over and steer the camera to the correct value. After gathering results from the simulations, Model-Based Design made it possible to test the algorithms in real life. The biggest challenge was to produce lifelike motions to test the hardware on and therefore made it harder to conclude the end result for the experiments carried out by the hardware on the moving platform.

Place, publisher, year, edition, pages
2017. , p. 84
Keyword [en]
Semi-automatic tracking, Kalman filter, Automation control
National Category
Mathematics
Identifiers
URN: urn:nbn:se:liu:diva-133682ISRN: LiTH-MAT-EX--2016/08--SEOAI: oai:DiVA.org:liu-133682DiVA, id: diva2:1062617
External cooperation
BAE Systems Bofors
Subject / course
Applied Mathematics
Supervisors
Examiners
Available from: 2017-01-09 Created: 2017-01-07 Last updated: 2017-01-09Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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