Unmanned aerial vehicle ground target tracking control method and system based on pan-tilt camera

Abstract

The invention discloses an unmanned aerial vehicle ground target tracking control method and system based on a pan-tilt camera, belongs to the technical field of target tracking, and is used for solving the technical problem of poor target tracking effect at present, and the adopted technical scheme is as follows: the method comprises the steps of: firstly, performing target detection and recognition, and extracting feature points of a target; mapping the current feature point to an image plane which is not influenced by the posture of the fixed-wing unmanned aerial vehicle and the posture change of the cradle head by utilizing coordinate system conversion so as to obtain a corresponding feature point S; taking the difference value of S and the expected feature point S* as input, and performing servo control on the unmanned aerial vehicle and the holder system to obtain the speed Va of the unmanned aerial vehicle and the expected holder attitude [theta]g; and performing attitude adjustment on the unmanned aerial vehicle and the holder according to the Va and the [theta]g. The unmanned aerial vehicle ground target tracking control method and system based on the pan-tilt camera havethe advantages of being high in tracking precision, good in tracking effect and the like.

Description

technical field [0001] The invention relates to the technical field of target tracking, in particular to a method and system for tracking and controlling a ground target by an unmanned aerial vehicle based on a pan-tilt camera. Background technique [0002] The persistent and robust tracking of ground targets based on airborne sensors is one of the basic forms for UAVs to perform earth observation tasks, and it is also the basis for subsequent target behavior / intent analysis and situation generation. Most of the traditional methods adopt the "recognition-location-control" strategy, that is, after the target is recognized, the position of the target in space is located by combining the internal and external parameters of the airborne sensor, and then the tracking control law is designed based on the positioning result. However, in the target positioning link, the positioning error is usually large, and the UAV is always in high-speed motion, resulting in poor tracking effect ...

AI Technical Summary

Problems solved by technology

In addition, Quintero et al. also used the GPS receiver to obtain the absolute position information of the target when designing the tracking of the UAV, which will not be completed in the GPS-denied environment

[0006] (2) On the premise of not calculating the target position, only fixed-wing UAVs can track stationary or slow-moving targets

However, this design cannot maximize the performance of the gimbal, that is, it cannot allow the gimbal to deflect freely within the limit range as the position of the feature points on the image changes, which will cause it to easily leave the camera's field of view when the target moves too fast. field, making tracking fail

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