A general target-following method and system for fusing rotorcraft IMU data

Abstract

The invention relates to the technical field of rotor drones. A kind of general purpose target following method of fusing rotor UAV IMU data, comprises the following steps, step 1, obtains the attitude data of rotor UAV flight by obtaining rotor UAV IMU data in real time; Step 2, through the rotor UAV In the visual processing system, the image data of the camera is obtained in real time; the visual processing system uses the KCF algorithm combined with the IMU data to detect and track the target, and converts the tracked results into the target yaw angle and target pitch angle of the rotor UAV; steps 3. Use a fusion filter to fuse the historical attitude data of the rotor UAV with the results tracked by the visual processing system to obtain the target attitude data of the rotor UAV; the flight control system adjusts the rotor UAV to follow the target according to the target attitude data flight. Effectively improve the accuracy of the rotor UAV following the target, the algorithm also has a relatively robust performance.

Description

technical field [0001] The invention relates to the technical field of rotor drones, in particular to a target following method and system. Background technique [0002] Consumer-grade photo-taking rotor drones, usually quad-rotor drones, are equipped with a camera on the head of the rotor drone. the IMU module. [0003] The IMU module is a conventional configuration of consumer-grade rotorcraft, and the output data is not stable and usually drifts gradually over time, which is not enough to guide the rotorcraft to follow the target only by IMU data. [0004] Vision-based target tracking usually assumes that the camera remains stationary or moves at a constant speed, but in the application of the rotor UAV, the camera used for shooting and the motion state of the rotor UAV are always synchronized. Especially in the absence of a gimbal, the camera rigidly connected to the rotor drone is always affected by factors such as external airflow disturbing the vibration of the fuse...

AI Technical Summary

Problems solved by technology

[0005] Under such conditions, whether it is directly processing the target detection and tracking algorithm, or performing electronic image stabilization eis processing before the target tracking algorithm, it will inevitably bring about an increase in the amount of additional calculations, but the computing resources are very limited.

Images