With the rapid development of computer technology and image processing technology, the passive TV tracking system has received great attention in the military due to its high resolution, strong visual sense, good anti-interference performance and low cost, especially in the air defense fire control system. Widely used. However, due to the large amount of data in the digital image processing technology and the complexity of the algorithm, the speed and accuracy of the operation often become a bottleneck limiting the overall performance of the TV tracking system. Solutions include multi-processor mode, increased core processing chip computing power or more efficient tracking algorithms. Regardless of the simplification of the design or the ease of system upgrade, the method of improving the computing power of the core processing chip is undoubtedly favored by the majority of users. A DSP (Digital Signal Processor) chip dedicated to video images or audio signals can meet these needs. In addition, the many advantages of FPGAs (Field Programmable Gate Arrays) make them rapidly applicable to digital circuit design. Under the control of the core chip DSP, with the FPGA, more complex image processing tasks and control algorithms can be realized. FPGA plays an important auxiliary role for DSP, which simplifies circuit design, reduces cost and improves stability. In the DSP-based TV tracking system, a method of using FPGA to complete video overlay and other auxiliary functions is explored, which constitutes a full-featured real-time target search and tracking system.
1 system hardware designThe block diagram of the system is shown in Figure 1. It consists of three parts: image input part, image recognition processing part and servo follower system. The image input section is a camera or a visual simulation computer. The camera is used to capture real-time images. The visual simulation computer can set various target models and route parameters according to the needs of training or evaluation. The 3D modeling software is used to simulate the actual combat environment and flight conditions, and the video image signals are generated in real time. The image recognition processing part is mainly composed of an image acquisition module, a target tracking and recognition module, a communication control module, a servo control module, a character and information superimposition module, and a power module. Real-time acquisition and processing of the input video signal, complete the search and tracking of the target, and superimpose characters, gates and other information on the output video. The target offset is D/A converted and amplified to monitor the status of each switch on the operation panel. The servo servo system adjusts the position of the pan/tilt (camera) according to the above offset or transmits the error signal to the visual simulation computer to control the generation of the target, thereby realizing the television tracking of the simulation target.
The core processing chip used in this system is TMS320DM642 DSP, which is a fixed-point DSP for video/image processing. Its remarkable feature is highly integrated video input and output ports, supporting all major video standards. The system uses its video port 0 and video port 2, respectively connected to the video encoding chip and the decoding chip, responsible for the acquisition and output of the video signal. The communication control module includes two standard RS232 serial ports, one of which is connected to the system control panel, reads the switch status, the control panel indicator light, and the other is connected to the fire control computer, and receives the fire control system parameter signal output by the fire control computer. The DSP controls the The original video signal is superimposed and then sent to the monitor for observation by the operator.
The software can be divided into functions such as image acquisition, image processing, recognition tracking, display control and main control, mainly to complete video acquisition and video (frame signal) processing (preprocessing, binarization, target recognition, tracking, estimation). ), video overlay, network port (visual simulation computer) communication, IC communication (auxiliary control board) and video display 6 tasks.
TI's DSP development environment is CCS, and the version corresponding to DM642 is 2. 21. The working mode in CCS adopts multi-thread processing. In Figure 2, each function block is created and executed as different tasks.
The video processing task periodically reports its current working status to the auxiliary control board, and if it is in the lock tracking state, the target offset is sent, otherwise two full zero bytes are sent. The auxiliary control board then reports the monitoring results to the operator panel to the DSP.
In order to prevent resource conflicts caused by multitasking and confusing programs, it is necessary to control the timing and calling relationships of their execution. The system uses two methods to control:
a) Use SCOM (Synchronous Communication Module). The role of SCOM is to transfer messages between two tasks. For two modules with certain timing relationships, ensure that the two are executed in the specified order, avoiding the formation of read and write conflicts on the shared area.
b) Use the critical section definition. For two tasks with uncertain timing relationships, the shared data between them is defined as critical segment code, which makes its data not accessible by more than one process at the same time, and prohibits its independent threads from accessing critical data. Otherwise, if other threads access their internal data, the entire program may be in an abnormal state, which may result in resource conflicts, crashes, or other undesirable consequences. The disadvantage of this method is that the critical data cannot be too long, otherwise it will make the program execution slow.
The characters and wave information that need to be displayed on the TV monitor are used by the operator for observation, and the superimposed tasks are implemented by the FPGA. The advantages of digital TV tracking system using FPGA to complete video overlay task are mainly reflected in the following two aspects: First, there are inevitably a large number of control signals in the system, and more logic changes are needed, in order to avoid the circuit brought by discrete devices. It is cumbersome and improves stability. It can make full use of FPGA space and use FPGA to complete logic processing tasks without adding additional logic control circuits. Secondly, the signal sent by the fire control computer is superimposed on the video signal, including the target height amount, the distance amount and the speed amount, the tracking wave gate, the tracking state, and the field center cross line. The superposition of these information requires a transparent display that can be refreshed in real time, and the FPGA can meet the above requirements.
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