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With the widespread promotion of all-dimensional planar motion system, increasingly importance has been attached to the corresponding modules. This article introduces a kind of integrated module designed for positioning the planar motion system. The system contains two sensors, they're magnetic encoder and mems gyro chip. Magnetic encoder is used to record the distance of the two driven wheels while the gyro module is used to record the deflection angle. With the thought of differentiation, we decomposed continuous motion into many small pieces of linear motion to get the coordinate of the system. Another obvious merit is that the driven wheels can move up and down automatically according to the condition of the road, which made the calculation of the system's coordinate accurate.

In order to solve the fixed pan-tilt's blind spots problem, expand the scope of monitoring, realize the visual tracking, we designed a new type of omnibearing mobile self-stationary pan-tilt based on the control concept of visual servo. In visual studio platform, using c++ language for software development, the automatic close target and automatic target tracking algorithm was completed. Using the modular design idea, we designed hand held three-degree-of-freedom self-stabilization pan-tilt module, omnibearing collapsible mobile platform module and remote control module, and each module can work together or independently. Self-stationary pan-tilt consists of the omnibearing collapsible mobile platform and hand held three-degree-of-freedom self-stabilization pan-tilt. It can realize omnibearing movement, wireless transmission synchronously between video and control signal, stationary track shoot, tracking shoot, autonomous line feed and other functions. Embedded platform which based on the STM32F407 micro controller is used as the self-stationary pan-tilt's decision and control kernel. Remote control system provides human-computer interaction interface such as the upper machine, handle, which realize target crossing, stationary track shoot, target monitoring and other tasks conveniently.