摘要：为了准确地跟踪机场跑道（以下简称跑道）线目标，提出了一种在末敏子弹稳态下落过程中，利用Hough变换将机场跑道线性目标转化为对点目标进行跟踪的方法。此方法在考虑各个参数解耦的情况下，先对Hough平面内的直线参数利用Kalman滤波方法进行状态估计与预测；然后在确定子弹与跑道目标的相对位置关系时，需考虑到弹上探测器旋转运动的影响，再结合当前帧图像的数据信息对预测方程进行修正处理；最后在小扰动情况下，根据伞-弹系统动力学分析理论建立了对探测系原点与地面交点至跑道中心线的距离D(t)进行处理的方法，并得到了弹下点（子弹晃动中心）至跑道中心线的距离D0的曲线，进而确定了子弹相对于跑道目标的位置关系。分析结果表明，此方法实时性强，不仅降低了参与运算的数据量，而且试验结果误差较小，可以满足目标总体设计要求。

Abstract：A new method of some linear objects tracking such as the runway being changed to tracking of the feature point is presented based on Hough transform during the stable-falling of the sub-muniton. Given all the case of each parameter’s decoupling, the parameters of the line in Hough space have been estimated and predicted with the methods of Kalman filtering. In order to establish the relative position between the runway and sub-munition, some modificative processing in equation for predicting the state of objects’ contrail are conducted combining some data information of the current image when considering the influence of the detector’s spinning with sub-munition. In the instance of small perturbation, a new processing data is established based on the theory of parachute-munition’s dynamic analysis in order to obtain the curve of D0 which would ascertain the relative position of sub-munition and runway. All processing data shows that this method has high efficiency and good stability, and reduces the quantity of calculation to some extent. Experiment results show the error of estimation is small and it can meet the general object requirement.