A quadrotor UAV target tracking system based on a single-axis gimbal
A quadrotor drone and target tracking technology, which is applied in the field of quadrotor drone target tracking system, can solve the problems of poor target tracking effect, imperfect tracking technology, and inability to judge whether the target plane has changed, etc., to achieve accurate deformation effect
Active Publication Date: 2022-07-15
NORTHEASTERN UNIV LIAONING
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Problems solved by technology
[0005] The purpose of the present invention is to provide a four-rotor unmanned aerial vehicle target tracking system based on a single-axis gimbal, to solve the problem that the tracking technology is not perfect in the above-mentioned background technology, and the target can only be framed to track its position and cannot be distinguished If the plane changes, the tracking effect of the target on the slope is not good.
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[0058] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0059] see Figure 1-5 , The present invention provides a technical solution: a four-rotor UAV target tracking system based on a single-axis gimbal, characterized in that: the steps are as follows:
[0060] Step S1: In this method, we use a total of four coordinate systems, namely the world coordinate system (inertial coordinate system) I={O i ,X i ,Y i ,Z i }, the body coordinate system B={O b ,X b ,Y b ,Z b }, camera coordin...
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The invention discloses a four-rotor unmanned aerial vehicle target tracking system based on a single-axis gimbal. The upper end of the frame is fixedly installed with a JetsonTX2 onboard computer, the upper end of the JetsonTX2 onboard computer is fixedly installed with a pixhawk flight controller, the lower end of the rack is fixedly installed with a single-axis gimbal, and the lower end of the single-axis gimbal is movably installed There is a camera. This single-axis gimbal-based quadrotor UAV target tracking system sets a virtual plane in the algorithm to estimate the target inclination, and accurately illuminates the target plane so that the target plane and the camera imaging plane are parallel. When the target plane occurs When tilted, the drone can determine the inclination of the target by itself and then adjust the angle of the gimbal to track the target to obtain the maximum image of the target at the same height. It plays a huge role in the field of tracking and detection. It can also be widely promoted in the field of aerial photography.
Description
technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a four-rotor unmanned aerial vehicle target tracking system based on a single-axis gimbal. Background technique [0002] With the continuous development of embedded technology, vision processing technology and aerodynamics, UAVs have ushered in a golden age of vigorous development, which has gradually expanded from tasks such as flight tests and aerial photography to cargo distribution, circuit facility inspection , personnel rescue, environmental detection, military activities and other fields, the advantage of UAV is its flexible activities, air superiority and sensors to obtain more information. [0003] UAVs with vision sensors and laser sensors can give full play to their own characteristics of strong maneuverability and access to a lot of information. Compared with fixed-wing UAVs, rotary-wing UAVs have greatly improved maneuverability and flexibility. In ...
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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 王雪飞马宏军陈豹宋大雷白桦徐少杰
Owner NORTHEASTERN UNIV LIAONING