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Target tracking method, device and system

A target tracking and target technology, which is applied in the field of devices and systems, and target tracking methods, can solve the problems of complex composition, unfavorable for the integration of UAV airborne systems, and low positioning and tracking accuracy of target tracking systems.

Active Publication Date: 2018-11-16
BEIJING BORUI AIFEI TECH DEV CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the existing video recognition system has a complex structure, and the algorithm will lose the target when the line of sight is blocked for a short time or the target moves at a high speed, which has certain limitations.
Using visual sensors as target tracking sensors, the tracking algorithm is lengthy, which is not conducive to the integration of UAV airborne systems
The positioning and tracking accuracy of the target tracking system based on GPS positioning is not high, and it is difficult to realize the stable locking of the affected target in the shooting equipment

Method used

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Embodiment 1

[0086] In order to improve the positioning accuracy, GNSS (Global Navigation Satellite System, Global Positioning Navigation Satellite System) technology can be used in the target tracking system to obtain position information. Preferably, PPP (Precise Point Positioning, single-point precise positioning) technology can be used, and the acquired position information can reach decimeter-level or even centimeter-level high precision. The invention is based on the GNSS technology and is beneficial to realize precise positioning.

[0087] figure 1 A schematic structural diagram of a target tracking system for an unmanned aerial vehicle according to an embodiment of the present invention is shown. Such as figure 1 As shown, the target tracking system of the unmanned aerial vehicle mainly includes: a pan-tilt controller 114 arranged on the unmanned aerial vehicle 11 (referred to as a UAV) and a positioning device arranged on the object 13 to be photographed. For the specific fun...

Embodiment 2

[0096] Figure 2a A schematic flowchart showing a target tracking method according to an embodiment of the present invention. Such as Figure 2a As shown, the target tracking method may specifically include the following steps:

[0097] Step 201, establishing a reference coordinate system according to the position information of the photographed object and the aircraft, and obtaining a first position vector from the photographed object to the aircraft in the reference coordinate system;

[0098] Step 202, according to the current attitude information of the aircraft, calculate the direction vector from the antenna position of the aircraft to the position of the gimbal in the reference coordinate system;

[0099] Step 203, according to the first position vector and the direction vector, calculate a second position vector from the subject to the position of the pan / tilt in the reference coordinate system, and convert the second position vector converted into target attitude i...

Embodiment 3

[0129] image 3 A schematic flowchart showing a target tracking method according to another embodiment of the present invention. like image 3 As shown, in this embodiment, the GNSS technology is used as an example to illustrate the shooting and tracking method. In this embodiment, the same formulas as those in Embodiment 2 have the same meanings, and will not be repeated here. The target tracking method may specifically include the following steps:

[0130] Step 301: GNSS beacons receive GNSS signals for precise positioning, and obtain the position P of the photographed target t (lon t ,lat t ,hei t ) (usually lat t ,lon t in degrees, hei t in meters).

[0131] Step 302: the communication device encodes the position of the photographed target and modulates it onto a 433MHz radio signal for transmission;

[0132] Step 303: The pan / tilt controller receives the position P of the object to be photographed from the communication device t , at the same time obtain the UA...

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Abstract

An object tracking method, device and system. The object tracking method comprises: establishing a reference coordinate system according to position information of a photographed object and an aircraft to obtain a first position vector from the photographed object to the aircraft in the reference coordinate system (201); calculating a direction vector from an antenna position to a pan-tilt position of the aircraft in the reference coordinate system according to current attitude information of the aircraft (202); calculating a second position vector from the photographed object to the pan-tilt position in the reference coordinate system according to the first position vector and the direction vector, and converting the second position vector into target attitude information of the aircraft (203); and obtaining a target control amount according to the current attitude information and the target attitude information of the aircraft, the target control amount being used for indicating an adjustment amount for motion control of a pan-tilt (204). The method has high tracking precision and can implement all-weather automatic tracking.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a target tracking method, device and system. Background technique [0002] An unmanned aerial vehicle (also known as a UAV, unmanned aerial vehicle, etc.) is an unmanned aircraft controlled by radio remote control or under autonomous or semi-autonomous program control. Due to its low cost, no risk of casualties, and good mobility, it is widely used in various fields such as aerial photography, geological survey, line inspection, and emergency rescue. Among them, drones are widely used in aerial photography due to their unique maneuvering advantages. With the development of intelligent technology, people have put forward higher requirements for the intelligent functions of UAVs, such as requiring UAVs to automatically track the captured targets. [0003] Generally speaking, the tracking of the target by the aircraft is realized through visual sensors or position...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/08
Inventor 高鹏朱棣
Owner BEIJING BORUI AIFEI TECH DEV CO LTD
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