Unmanned aerial vehicle ground moving target tracking control method based on graphic moment

Abstract

The invention discloses an unmanned aerial vehicle ground moving target tracking control method based on a graphic moment. The method comprises the following steps of S1, building a hardware platform, wherein the hardware platform comprises a four-rotor unmanned aerial vehicle and an optical sensor and an inertial measurement unit carried by the four-rotor unmanned aerial vehicle; S2, according to the feature information of the reference image at the given position, measuring and calculating the feature information of the image captured by the quadrotor unmanned aerial vehicle at the current pose through a graphic moment; S3, according to an error between the feature information of the image measured and calculated in the step S2 and the feature information of the reference image, using the attitude information acquired by an inertial measurement unit to realize mapping of an inertial system 3D space; and S4, designing a controller by using an IBVS method, and maintaining the feature information of the image to be converged to the feature information of the reference image at a given position, namely, realizing a target tracking task. According to the method, measurement errors caused by a sensor and an estimation algorithm in the position estimation process are avoided, and higher control precision is achieved.

Description

technical field [0001] The invention belongs to the technical field of control engineering, in particular to realize the task of tracking a moving target of an unmanned aerial vehicle, in particular to a method for tracking and controlling a moving target of an unmanned aerial vehicle based on graphic moments. Background technique [0002] UAV has the characteristics of compact structure, low price, small size, and light weight. It has broad military and civilian prospects and is a hot topic in the development of global science and technology. With the development of UAV control technology, the autonomous positioning of UAV has become one of the key technologies of UAV. In order to realize the autonomous flight of UAVs and improve the ability of UAVs to complete tasks, autonomous positioning has far-reaching significance for the development of UAVs. [0003] Traditional integrated navigation can play a good role in most autonomous flight missions of UAVs, but in some specif...

AI Technical Summary

Problems solved by technology

UAVs often encounter complex flight environments. During the flight, they face the problems of ground effect information changes, flight instability, and the impact of light and shadow environments. How to design navigation and control systems so that UAVs can overcome environmental changes, Ensuring control accuracy and robustness is a problem to be solved in the present invention

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