Method for tracking rapid moving target by fixed-wing unmanned aerial vehicle based on pan-tilt-zoom camera
A pan-tilt camera and fast-moving technology, which is applied in the field of drones, can solve the problems of being far away from the target, not considering the maneuverability of the drone, and the inability of the drone to continue tracking, etc., to achieve the effect of improving performance and avoiding errors
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[0033] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0034] Such as figure 1 Shown, a kind of fixed-wing unmanned aerial vehicle based on the pan-tilt camera of the present invention is to the tracking method of fast moving target, and its step comprises:
[0035] Step S1: Divide the whole process into three states: tracking state, adjustment state, and transition state. When in the tracking state, the drone flies according to the previously designed controller;
[0036] Step S2: In the adjustment state, the UAV switches the circling direction (if it is currently circling clockwise, it will become counterclockwise), and at the same time, the gimbal rotates from one side to the other to continue tracking the target; the transition state is In order to choose to enter the tracking state or the adjustment state according to the current state of the UAV, so as to prevent the UAV from movin...
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