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Vol. 155, Issue 8, August 2013, pp. 285-293




Study on a Pan-tilt Control Technique for the Airship Camera Orientation
1 Xianye Zhang, 2 Junchai Gao

1 Department of Mathematics and Information Sciences, Weinan Teachers University, Weinan 714000, China

2 School of Electronic Information Engineering, Xi'an Technological University, Xi'an 710032, China
E-mail: zhangxy71327@163.com


Received: 16 May 2013   /Accepted: 12 August 2013   /Published: 20 August 2013

Digital Sensors and Sensor Sysstems


Abstract: A pan-tilt control technique for the camera orientation of the airship is proposed. This technique is constructed by combining the airship states and the error of the image centre as a feedback. For the ground target coordinates testing system installed in airship, a two dimension pan-tilt is used to drive the camera tracking the ground target in order to catch the image of the measured target reliably. The control method of a double adaptive varying velocity PID with dead zone is proposed. Based the movement characteristic of the airship, the relationship between the movement of the target tracking and the angular velocity of the pan-tilt is analyzed; the control algorithm of the angular velocity of the pan-tilt is designed. This method make the camera continue to monitor the testing region and get the original image of the target in time. The result of experimentation shows that the method can track the ground target rapidly and steadily.


Keywords: Ground target position measurement, Airship sensors, Dual-PID self-adaptive control, Image process, Vision measurement.


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