US 12,436,267 B2
Adaptive tracking system and tracking method for water surface target
Yaojie Chen, Wuhan (CN); Haonan Liu, Wuhan (CN); Yunhan Lin, Wuhan (CN); and Li Chen, Wuhan (CN)
Assigned to Wuhan University of Science and Technology, Wuhan (CN)
Filed by Wuhan University of Science and Technology, Wuhan (CN)
Filed on Oct. 21, 2024, as Appl. No. 18/921,025.
Claims priority of application No. 202410131193.8 (CN), filed on Jan. 31, 2024.
Prior Publication US 2025/0244469 A1, Jul. 31, 2025
Int. Cl. G01S 13/86 (2006.01); G01C 13/00 (2006.01); G01P 5/00 (2006.01); G01S 13/72 (2006.01); G06T 7/246 (2017.01)
CPC G01S 13/867 (2013.01) [G01C 13/002 (2013.01); G01P 5/00 (2013.01); G01S 13/72 (2013.01); G06T 7/248 (2017.01); G06T 2207/10028 (2013.01); G06T 2207/10048 (2013.01); G06T 2207/20004 (2013.01)] 10 Claims
OG exemplary drawing
 
1. An adaptive tracking system for a water surface target, comprising:
an information acquisition module comprising at least one sensor, configured to acquire, in real time, a visible area mt of the water surface target, a wind scale FLt, a wave scale BLt, a distance between a tracker and the water surface target, and a velocity magnitude and direction of the water surface target, wherein t denotes a serial number of different acquisition times, and t=1, 2, 3, . . . , n;
a mode selection module comprising at least one processor, configured to send, based on the visible area mt of the water surface target, the wind scale FLt, and the wave scale BLt, a first signal to control the tracker to enter a tracking mode or a second signal to control the tracker to enter a prediction waiting mode;
a tracking module comprising at least one processor, configured to receive data on the distance between the tracker and the water surface target as well as the velocity magnitude and direction of the water surface target, and control, upon a reception of the first signal, the tracker to track the water surface target based on the distance between the tracker and the water surface target as well as the velocity magnitude and direction of the water surface target;
a prediction module comprising at least one processor, configured to receive the data on the distance between the tracker and the water surface target as well as the velocity magnitude and direction of the water surface target, and generate, upon a reception of the second signal, at least one predicted position of the water surface target based on the distance between the tracker and the water surface target as well as the velocity magnitude and direction of the water surface target; and
a wake-up module comprising at least one processor, configured to acquire the predicted position, control the information acquisition module to monitor the predicted position, and send, when the water surface target is detected at the predicted position, a wake-up signal to the tracking module, allowing the tracking module to control the tracker to track the water surface target;
wherein the mode selection module comprises a data receiving unit, a data processing unit, and a threshold comparison unit, wherein
the data receiving unit is electrically connected to the information acquisition module, and is configured to receive the visible area mt of the water surface target, the wind scale FLt, and the wave scale BLt transmitted by the information acquisition module;
the data processing unit is electrically connected to the data receiving unit, and is configured to generate a prediction waiting coefficient YDt based on the visible area mt of the water surface target, the wind scale FLt, and the wave scale BLt; wherein
values are assigned to the wind scale FLt and the wave scale BLt respectively by a 1-9 scale method to generate a wind influence value f(FLt) and a wave influence value f(BLt);
the prediction waiting coefficient YDt is calculated according to the following equations:

OG Complex Work Unit Math
wherein in the equations, t≥2; and m0 denotes a total area of the water surface target;
YD1t denotes a first prediction waiting coefficient; α1, α2 denote first preset proportional coefficients; YD2t denotes a second prediction waiting coefficient; β1, β2 denote second preset proportional coefficients; w1 denotes a weight influence coefficient of the first prediction waiting coefficient YD1t; and w2 denotes a weight influence coefficient of the second prediction waiting coefficient YD2t;
the threshold comparison unit is configured to receive the prediction waiting coefficient YDt, compare the prediction waiting coefficient YDt with a preset threshold TTH, send the first signal to control the tracker to enter the tracking mode when YDt<TTH, and send the second signal to control the tracker to enter the prediction waiting mode when YDt≥TTH; and
the visible area mt of the water surface target is acquired by: photographing the water surface target through an optical camera and an infrared camera, and processing an optical image and an infrared image of the water surface target to acquire the visible area mt of the water surface target.