Unmanned vehicle target orientation equidistant tracking method based on perception information

Abstract

The invention relates to the field of target tracking, in particular to an unmanned vehicle target orientation equidistant tracking method based on perceptual information, which comprises the following steps that: 1) a vehicle acquires perceptual information of a target and vehicle information of the vehicle; 2) carrying out data processing on the sensing information, and obtaining the sensing information after filtering and smoothing processing; 3) setting the orientation of the target relative to the aircraft, setting a distance value D, establishing a virtual target motion coordinate system, and obtaining the position of the aircraft in the virtual target motion coordinate system through a coordinate system change matrix; (4) the aircraft adjusts the expected speed through a speed adjusting strategy; (5) according to the target course, the vehicle calculates the expected course of the vehicle; and 6) outputting the expected speed and the expected course to form a closed loop, and repeating the steps 1)-5). The method is safe, stable and high in reliability. The navigation speed and the navigation direction can be adjusted in real time according to sensing information, and the task can be safely and stably completed even under poor sea conditions.

Description

technical field [0001] The invention relates to the field of target tracking, in particular to an unmanned aerial vehicle target positioning and equidistant tracking method based on perception information. Background technique [0002] Surface / underwater unmanned aerial vehicles, as an intelligent multifunctional detection equipment platform for exploring the rich resources of the ocean, need to be able to complete planning tasks autonomously in an unmanned state. At present, in the field of surface / underwater unmanned aerial vehicle and target tracking technology, the target tracking task based on perception information can be realized for the locked target, but for some target states that are unknown, the target motion state changes greatly and frequently, and the In the case of high environmental interference, the tracking state is prone to instability and the tracking distance cannot be guaranteed. In actual engineering, such as stable tracking of aircraft with high-spe...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the deficiencies of the prior art, the present invention provides a surface / underwater unmanned vehicle target positioning and equidistant tracking method based on perception information, which solves the problem of positioning and equidistant tracking of surface / underwater dynamic targets with high and low frequency variable speed Insufficient stability, especially when the target state is unknown, the target motion state changes greatly and frequently, and the environment where the environment is disturbed is large, the tracking state is prone to instability and the tracking distance cannot be guaranteed.

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