跟踪

We analyzed and proved that this kind of mounting can cover all useful sky area and has much lower and smoother angular velocity and acceleration than the altazimuth one. IN THIS PAPER WE ALSO DISCUSSED THE RELATIONSHIP BETWEEN TWO MOST OFTEN USED ALT-ALT coordinate systems (SN-ALT-ALT, EW-ALT-ALT coordinate system) and the sidereal hour-angle coordinate system, the horizon coordinate system.

本文推导了ALT-ALT跟踪机架光电人卫跟踪仪原理，分析证明了它在要求的跟踪区域内不存在观测盲区，对同一目标的跟踪角速度和角加速度比地平式机架跟踪仪小且平滑，可实现全天覆盖。

The system adopted active tracking,namely calculate the input angle of the tracking device in advance,the angle is correspondent to the sun position some moment.Photoelectric sensors react the sunlight that putting on different position of the platform, feedback electrical signal.Then single-chip applys the subprogram and sends out pulse to step motors according to the signals,can control the rotate angle and direction of the step motor. The mechanism has realized the automatic track to the sun, so that the trackers top flat board can be always vertical to the sunlight and arrive the furthest receiving energy.

系统采用主动式跟踪，即预先计算好对应于某时刻太阳位置的跟踪机构的输入角度，通过跟踪器上平台不同位置上摆放的光电传感器感受该太阳位置的光照，反馈回电信号，单片机根据该信号调用子程序发出脉冲对步进电动机的转动角度和方向进行控制，实现了机构对太阳的自动跟踪，使跟踪装置的上平台始终处于垂直于光照方向，达到了能量最大限度的接收。

Lastly,after introducing some tracking methods,make good use of kalman filter method in center tracking. This method fairly meets the need of tracking in this paper.

在介绍了常见的跟踪方法后，重点研究了质心跟踪及卡尔曼滤波预测机制，并且把这两者结合的跟踪算法应用于目标跟踪的仿真实验，这样使算法弥补了单一跟踪方法自身不足的方面，获得了良好跟踪效果。

In this paper, the theory, algorithm, and experiment of automatic object detection and tracking are studied in depth. It is firstly pointed out that the essential of Mean Shift method is a special Newton-Gaussian method. A new method named Fast Mean Shift is established to stretch the conservative step of Mean Shift method. The convergence and validity of this new method are proved in theory. And it is also proved that the convergence speed of Fast Mean Shift is faster than that of Mean Shift. The contrast experiments of searching the maximum possibility density of random of data sets in plane and 3D space are done. The results show that this new method can reduce the iterations greatly. A new object tracking method based on Fast Mean Shift is built to improve the object tracking performance, which is shown in the face tracking experiment with the tennis sequence provided by the Ohio State University, and the car tracking experiment with the car sequence provided by Kalsruhe University. The face trcking experiment with highly noised images show that the object tracking method based on Fast Mean Shift has strong anti-jamming ability. A new fast color object detection technology based on characteristic color is established, which use characteristic color distribution to compute the characteristic color vector of any area in an image quickly. With the high performance search method, the fast object detection is achieved. At last, using object tracker based on Fast Mean Shift and color object detector based on characteristic color with the Kalman filter, PID controller, searial communication and other technologies, automatic object detection and tracking system with control system is built. The availability and anti-jamming ability of this system are verified by some object detection and tracking tests in different scenes.

本文对目标自动识别与跟踪进行了理论、计算、试验三方面的深入研究，主要包括：首次指出了目标跟踪技术中常用的均值迁移方法的本质为一种特殊的高斯-牛顿方法，改进了均值迁移方法步长取值保守的弱点，建立了快速均值迁移方法，证明了该方法的收敛性、有效性以及收敛速度优于均值迁移方法；进行了平面和3维随机分布数据集的最大概率密度搜索对比试验，试验结果表明，快速均值迁移方法大大减少了迭代次数；建立了基于快速均值迁移的目标跟踪方法，利用俄亥俄州立大学提供的乒乓球序列图像和卡斯鲁厄大学的汽车序列图像，对人脸和汽车目标跟踪性能分别进行了对比试验，并进行了高噪声人脸图像目标跟踪试验，结果表明，基于快速均值迁移的目标跟踪方法有效提高了目标跟踪性能，具有很强的抗干扰能力；建立了一种新型彩色目标自动识别方法，采用特征色彩分布函数实现了对任意图像区域特征色彩矢量的快速计算，建立了高效的搜索方法，实现了彩色目标的快速识别；将基于快速均值迁移方法的目标跟踪方法、基于特征色彩的目标识别方法与卡尔曼滤波、PID控制、串行通讯等技术结合，建立了带有控制系统的快速目标自动识别与跟踪系统，并在不同场景下进行了目标自动识别与跟踪试验，验证了快速目标自动识别与跟踪系统的有效性和抗干扰能力。

Analyse the technology principle of program tracking, step-in tracking, conical scan tracking and singleshot tracking, and contrast the advantage and disadvantage of them. Select program tracking and conical scan tracking considering performance and cost.

二、对程序跟踪、步进跟踪、圆锥扫描跟踪和单脉冲跟踪这四种自动跟踪技术的原理进行了具体的分析，并比较了它们各自的优缺点，从性价比的角度，选择了程序跟踪与圆锥扫描跟踪相结合的方式。

As applications, we prove the following results: If / has pointwise pseudo-orbit tracing property, for any k ∈ Z+, and fk is chain transitive, then for any k ∈ Z+, fk has open set transitive ; If f has pointwise pseudo-orbit tracing property, and for any n ∈ Z+,fn is chain transitive, then f has sensitive dependence on initial conditions; If f is open set mixing and has pointwise pseudo-orbit tracing property, then f has property P; Let f :→ be a homeomophism, then f is pointwise pseudo-orbit tracing property if and only if the shift map σf is pointwise pseudo-orbit tracing property.

作为应用，证明如下结论：若f具有逐点伪轨跟踪性质，且对任意k∈Z+，fk为链转换的，那么对任意k∈Z+，fk为开集转换；若f具有逐点伪轨跟踪性质，且对任意n∈Z+，fn为链转换的，则f具有初始敏感依赖性质；若f为开集混合的，且具有逐点伪轨跟踪性质，那么f具有性质P；设f：→是同胚映射，那么f具有逐点伪轨跟踪性质当且仅当移位映射σf具有逐点伪轨跟踪性质。

Based on the kinematic characteristics analysis of 3 degrees of freedom mobile robot with two drivable and steerable wheels and automatic driving experiences of experts, four sub-fuzzy tracking controllers are designed which realizes independent control of position between orientation of mobile robots to satisfy the desire posture requirements with the simplified fuzzy logic inference and shortened computing time simultaneously.

在平面目标跟踪过程中，将移动机器人跟踪的目标期望位姿分解为4种位置和方位组合，在分析总结了具有2个可操舵驱动轮的3自由度移动机器人运动特性的基础上，根据自动驾驶控制的专家经验知识，针对4种位姿的要求设计了4个子模糊跟踪控制器，这样大大简化了模糊逻辑推理过程，并减少了计算时间，实现了位置和方位的独立跟踪控制，同时满足了跟踪目标的位姿要求。

Cheng, Y. Mean-shift, Mode Seeking and Clustering. IEEE Trans. on Pattern Analysis and Machine Intelligence, Vol. 17, pp. 790, 1995.[2] Comaniciu D, Ramesh V, Meer P. Kernel-based Object Tracking. IEEE Trans. on Pattern Analysis and Machine Intelligence, Vol. 25, pp. 564-577, 2003.[3] Collins R, Liu Y and Leordeanu M. Online Selection of Discriminative Tracking Features. IEEE Trans. on Pattern Analysis and Machine Intelligence, Vol. 27, pp. 1631-1643, 2005.[4] Nummiaro K, Koller-Meier E and Gool L.V. An Adaptive Color-based Particle Filter.

本文针对MS跟踪和粒子滤波跟踪各自的优缺点，将其两者进行了很好地结合，提出了两步跟踪算法，其特点有：保留了MS跟踪实时性的优点的同时，也具有粒子滤波在遮挡情况下的鲁棒性等特点；在所需的每步粒子跟踪中，以上一步的跟踪结果与模板的相似度为先验知识，自适应地选取粒子个数和传播半径，缓解了粒子缺乏多样性的缺点，也根据这个相似度来判断是否需要对目标模板的更新，保证了更新的有效性。

The passive tracking dynamics is modeled by the turn rate, and the basic steps of the nonlinear particle filter are discussed. According to constraint conditions including the terrain data and the maneuvering capability of the target, outrange particles are discarded during prediction and update steps, and the distribution and the weight of particles are adjusted. The performance and the RMSE are analyzed by comparison simulations with the unconstraint particle filter.

使用转弯率概念建立了被动跟踪模型，阐述了非线性粒子滤波的基本过程；通过设定地域和机动性能约束条件，抛弃约束外粒子，并对粒子分布和权重进行调整，利用CPF进行了目标跟踪仿真实验，与无约束的粒子滤波跟踪进行了对比，分析了轨迹跟踪性能，比较了跟踪误差。

With the boundary point and the known adjacent relations, an overall marching procedure can go on and the iteration process stops until the intersection curve is self-closed or reaches the border of the composite surface. In the later case, the marching must be repeated from the starting point in the reverse direction until the intersection curve reaches the other border of the composite surface.

由一个交点出发，通过计算跟踪方向和跟踪步长，迭代计算出下一个精确的交点；利用边界点和近曲面点计算方法，根据曲面片的拓扑关系找到交线所经过的下一张曲面片，从而使跟踪过程继续下去，直至形成封闭交线环而停止该交线段的跟踪，或到达复合曲面的边界后由首交点反向跟踪到达复合曲面的另一边界。

Neither the killing of Mr Zarqawi nor any breakthrough on the political front will stop the insurgency and the fratricidal murders in their tracks.

在对危险的南部地区访问时，他斥责什叶派民兵领导人对中央集权的挑衅行为。

In fact,I've got him on the satellite mobile right now.

实际上 我们已接通卫星可视电话了