Method for tracking rapid moving target by fixed-wing unmanned aerial vehicle based on pan-tilt-zoom camera

Abstract

The invention discloses a method for tracking a rapid moving target by a fixed-wing unmanned aerial vehicle based on a pan-tilt-zoom camera, and the method comprises the steps: S1, enabling a whole process to be divided into three states: a tracking state, an adjustment state and a transition state, and enabling the unmanned aerial vehicle to fly according to a controller designed at an earlier stage in the tracking state; S2, in the adjustment state, switching the unmanned aerial vehicle circling direction, meanwhile, rotating the pan-tiltfrom one side to the other side, and tracking the target continuously; wherein the transition state is adopted to select to enter the tracking state or the adjusting state according to the current state of the unmanned aerial vehicle to prevent the unmanned aerial vehicle from being away from the target. The method has the advantages that the principle is simple, the application range is wide, and the tmachine frameing performance of the method on the fast moving target can be improved.

Description

technical field [0001] The invention mainly relates to the technical field of unmanned aerial vehicles, in particular to a method for tracking a fast moving target by a fixed-wing unmanned aerial vehicle based on a pan-tilt camera. Background technique [0002] UAV's target tracking task is one of its important applications, and it is also the basis for defining follow-up tasks. Compared with other types of UAVs, fixed-wing UAVs have the characteristics of long endurance and high speed, and can be used for continuous tracking of ground targets. During the whole tracking process, the UAV first captures the target on the ground through the airborne visual sensor, and obtains the coordinates of the feature points on the image with the help of the target detection algorithm. On this basis, the traditional methods mostly use the internal and external parameters of the sensor to calculate the position of the target relative to the UAV, and then design the control law in three-dim...

AI Technical Summary

Problems solved by technology

[0007] (2) When realizing the tracking of the moving target by the fixed-wing UAV, only consider the use of the increased degree of freedom of the gimbal camera to realize the tracking of the moving target, but do not consider the maneuverability of the UAV to realize the speed control Faster Target Tracking

However, due to the limitation of the mechanical characteristics of the gimbal, when the target moves too fast, the target will leave the field of view of the camera after the gimbal deflects to the limit position, and may keep moving away from the target, making it impossible for the UAV to continue tracking

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