A control method, system, device and medium for a drone to track a target
By calculating the eastward, northward, and heading speeds of the UAV, the problems of repeated observations and inter-UAV collisions when multiple UAVs are tracking the same target are solved, and stable target tracking control is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- NAVAL AVIATION UNIV
- Filing Date
- 2023-01-10
- Publication Date
- 2026-06-26
AI Technical Summary
When multiple drones track the same target simultaneously, existing technologies fail to effectively limit the drones' position relative to the target, leading to duplicate observations and collisions between drones.
By acquiring the gimbal's pitch angle, yaw angle, UAV's heading angle, and flight altitude, the UAV's eastward speed, northward speed, and heading angular velocity are calculated to ensure that the UAV tracks the target according to the set pointing direction and pitch angle, avoiding repeated observations and inter-UAV collisions.
It achieves accurate position tracking when multiple UAVs track the same target simultaneously, avoiding redundant observations and collisions between UAVs, and ensuring stable target locking.
Smart Images
Figure CN115933724B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of unmanned aerial vehicle (UAV) flight control technology, and in particular to a control method, system, device and medium for UAVs tracking targets. Background Technology
[0002] At present, the visual tracking and locking of targets by airborne gimbal cameras on UAVs is relatively mature. There are also many control methods for UAVs tracking targets based on the gimbal's observation angle. However, these methods mainly emphasize that the target is within the camera's field of view and at a good observation angle (mainly referring to the pitch angle). They do not require the UAV's position relative to the target. This is fine for single-UAV tracking control, but when multiple UAVs track the same target at the same time, if the position of the UAVs relative to the target is not limited, problems such as repeated observation and collisions between UAVs are likely to occur. Summary of the Invention
[0003] The purpose of this invention is to provide a control method, system, device and medium for unmanned aerial vehicles (UAVs) to track targets, so as to control the UAV to track the target position according to the set azimuth and pitch angle.
[0004] To achieve the above objectives, the present invention provides the following solution:
[0005] A control method for a drone tracking a target includes:
[0006] Obtain the gimbal pitch angle, gimbal yaw angle, UAV heading angle, and UAV flight altitude;
[0007] The heading angular velocity of the UAV is determined based on the gimbal yaw angle.
[0008] Based on the UAV heading angle, the UAV flight altitude, the gimbal pitch angle, the gimbal yaw angle, the set pointing direction, and the set pitch angle, determine the UAV's eastward speed and the UAV's northward speed;
[0009] The drone's eastward speed, northward speed, and heading angular velocity are used to enable the drone to track the target at a set pointing direction and pitch angle.
[0010] Optionally, the eastward speed and northward speed of the UAV are determined based on the UAV's heading angle, flight altitude, gimbal pitch angle, gimbal yaw angle, set pointing direction, and set pitch angle, specifically including:
[0011] The horizontal speed of the UAV is determined based on the UAV's heading angle, the UAV's flight altitude, the gimbal's pitch angle, the gimbal's yaw angle, and the set pointing direction.
[0012] The vertical speed of the UAV is determined based on the UAV's flight altitude, the gimbal's pitch angle, and the set pitch angle.
[0013] The eastward speed and northward speed of the UAV are determined based on the UAV's horizontal speed, vertical speed, heading angle, and gimbal yaw angle.
[0014] Optionally, the formula for calculating the horizontal speed of the UAV is:
[0015] v x =k φ hcot|β|(ψ+η-γ);
[0016] Among them, v x ψ is the drone's horizontal speed, h is the drone's flight altitude, ψ is the drone's heading angle, β is the gimbal pitch angle, η is the gimbal yaw angle, γ is the set pointing direction, and k is the drone's horizontal speed. φ This is the second proportionality coefficient.
[0017] Optionally, the formula for calculating the vertical speed of the UAV is:
[0018] v y =k θ h(cot|β|-cot|α|);
[0019] Among them, v y β is the vertical velocity of the UAV, h is the flight altitude of the UAV, β is the gimbal pitch angle, α is the set pitch angle, and k is the vertical velocity of the UAV. θ This is the third proportionality coefficient.
[0020] Optionally, the formula for calculating the eastward speed of the UAV is:
[0021] v e =v x cos(ψ+η)+v y sin(ψ+η);
[0022] Among them, v e v represents the eastward speed of the drone. x v is the horizontal speed of the drone. y η is the vertical velocity of the UAV, ψ is the heading angle of the UAV, and η is the yaw angle of the gimbal.
[0023] Optionally, the formula for calculating the northward speed of the UAV is:
[0024] v n =-v x sin(ψ+η)+v y cos(ψ+η);
[0025] Among them, v nv represents the northbound speed of the drone. x v is the horizontal speed of the drone. y η is the vertical velocity of the UAV, ψ is the heading angle of the UAV, and η is the yaw angle of the gimbal.
[0026] Optionally, the formula for calculating the heading angular velocity of the UAV is:
[0027] ω ψ =-k ψ η;
[0028] Where, ω ψ η is the angular velocity of the UAV's heading, η is the yaw angle of the gimbal, and k is the angular velocity of the UAV's heading. ψ This is the first proportionality coefficient.
[0029] A control system for tracking a target using an unmanned aerial vehicle (UAV) includes:
[0030] The data acquisition module is used to acquire the gimbal pitch angle, gimbal yaw angle, UAV heading angle, and UAV flight altitude.
[0031] A heading angular velocity determination module is used to determine the heading angular velocity of the UAV based on the gimbal yaw angle.
[0032] The eastward and northward speed determination module is used to determine the eastward speed and northward speed of the UAV based on the UAV's heading angle, the UAV's flight altitude, the gimbal's pitch angle, the gimbal's yaw angle, the set pointing direction, and the set pitch angle.
[0033] The drone's eastward speed, northward speed, and heading angular velocity are used to enable the drone to track the target at a set pointing direction and pitch angle.
[0034] An electronic device includes a memory and a processor, the memory storing a computer program, and the processor running the computer program to enable the electronic device to perform the aforementioned control method for tracking a target by a drone.
[0035] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned control method for tracking a target by a drone.
[0036] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:
[0037] The control method for UAVs tracking targets provided by this invention determines the UAV's heading angular velocity based on the gimbal yaw angle, and determines the UAV's eastward and northward speeds based on the UAV's heading angle, flight altitude, gimbal pitch angle, gimbal yaw angle, set azimuth, and set pitch angle. This enables the UAV to track the target at a set azimuth and pitch angle. When multiple UAVs track the same target simultaneously, by limiting the azimuth and pitch angle of each UAV and adjusting the eastward, northward, and heading angular velocities of each UAV separately, it is possible to lock onto the target from different azimuths while avoiding problems such as duplicate observations and inter-UAV collisions. Attached Figure Description
[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0039] Figure 1 A flowchart of the control method for tracking a target by an unmanned aerial vehicle (UAV) provided by the present invention;
[0040] Figure 2 A block diagram of the control system for tracking targets by a drone provided by the present invention;
[0041] Figure 3 This is a schematic diagram of the distance change curve when the UAV tracks a target, provided by the present invention.
[0042] Figure 4 This is a schematic diagram of the azimuth angle change curve when the UAV tracks a target, as provided by the present invention. Detailed Implementation
[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0044] The purpose of this invention is to provide a control method, system, device and medium for unmanned aerial vehicles (UAVs) to track targets, so as to control the UAV to track the target position according to the set azimuth and pitch angle.
[0045] Specifically, the control method for UAV tracking a target provided by this invention is a method for maintaining a specific azimuth for UAV tracking a target when the gimbal camera locks onto the target. Here, "locking" means: 1) the gimbal camera can visually track the target and continuously select it by bounding box; 2) the gimbal mechanism adjusts the pitch, azimuth, and other angles in real time to align the optical axis with the selected target. Based on this, by adjusting the UAV's eastward and northward speeds and the UAV's heading, position tracking of the target at a specified azimuth can be achieved.
[0046] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0047] like Figure 1 As shown, the present invention provides a control method for a drone tracking a target, comprising:
[0048] Step 101: Obtain the gimbal pitch angle, gimbal yaw angle, UAV heading angle, and UAV flight altitude.
[0049] Step 101 specifically includes:
[0050] Step 1: Obtain the pitch angle β, the yaw angle η of the gimbal camera relative to the aircraft body, the heading angle ψ of the UAV, and the flight altitude h of the UAV when the gimbal locks onto the target.
[0051] Specifically, for the pitch angle β when the gimbal locks onto the target, β is positive when the gimbal camera is tilted up and negative when the gimbal camera is tilted down, which is applicable to UAV tracking ground targets; for the yaw angle η of the gimbal camera relative to the aircraft body, specifically the top-down view, η is positive when the camera axis is to the right of the aircraft axis and negative when the camera axis is to the left of the aircraft axis; for the UAV heading ψ, with north as the reference, it ranges from 0° to 360° clockwise.
[0052] Step 102: Determine the UAV's heading angular velocity based on the gimbal yaw angle.
[0053] Step 102 specifically includes:
[0054] Step 2: Adjust the UAV's heading based on η. The given heading angular velocity is as follows:
[0055] ω ψ =-k ψ η;
[0056] Where, ω ψ η is the angular velocity of the UAV's heading, η is the yaw angle of the gimbal, and k is the angular velocity of the UAV's heading. ψ It is the first proportionality coefficient, and k ψ It is a positive constant. As a specific implementation method, k ψ The value of is 1.
[0057] Step 103: Determine the UAV's eastward speed and northward speed based on the UAV's heading angle, flight altitude, gimbal pitch angle, yaw angle, set azimuth, and set pitch angle. The UAV's eastward speed, northward speed, and heading angular velocity are used to enable the UAV to track the target at the set azimuth and set pitch angle.
[0058] Step 103 specifically includes:
[0059] Step 3: Determine the horizontal speed of the UAV based on the UAV's heading angle, flight altitude, gimbal pitch angle, gimbal yaw angle, and set azimuth.
[0060] Specifically, the horizontal speed v of the UAV is calculated based on the UAV's flight altitude h, gimbal pitch angle β, UAV heading angle ψ, and set pointing azimuth γ. x :
[0061] v x =k φ hcot|β|(ψ+η-γ);
[0062] Among them, v x γ represents the horizontal speed of the UAV, γ is the set azimuth, specifically the angle between the direction the UAV points towards the target and true north, clockwise from 0° to 360°, and k is the horizontal speed of the UAV. φ It is the second proportionality coefficient, and k φ It is a positive constant. As a specific implementation method, k φ The value of is 1.
[0063] Step 4: Determine the vertical speed of the drone based on the drone's flight altitude, the gimbal's pitch angle, and the set pitch angle.
[0064] Specifically, the vertical velocity v of the UAV is calculated based on the UAV's flight altitude h, gimbal pitch angle β, and set pitch angle α. y :
[0065] v y =k θ h(cot|β|-cot|α|)
[0066] Among them, v y α is the vertical velocity of the UAV, α is the set pitch angle, and k is the vertical velocity of the UAV. θ It is the third proportionality coefficient, and k θ It is a positive constant. As a specific implementation method, k θ The value of is 1.
[0067] Step 5: Determine the eastward speed and northward speed of the drone based on the drone's horizontal speed, vertical speed, heading angle, and gimbal yaw angle.
[0068] Specifically, according to v x and v y The eastward velocity v obtained during drone tracking e and northbound speed v n The specific formula is as follows:
[0069]
[0070] Among them, v e v represents the eastward speed of the drone. n This refers to the northbound speed of the drone.
[0071] To implement the methods described above and achieve the corresponding functions and technical effects, a control system for UAV target tracking is provided below, such as... Figure 2 As shown, it includes:
[0072] The data acquisition module 201 is used to acquire the gimbal pitch angle, gimbal yaw angle, UAV heading angle, and UAV flight altitude.
[0073] The heading angular velocity determination module 202 is used to determine the heading angular velocity of the UAV based on the gimbal yaw angle.
[0074] The eastward and northward speed determination module 203 is used to determine the eastward speed and northward speed of the UAV based on the UAV's heading angle, the UAV's flight altitude, the gimbal's pitch angle, the gimbal's yaw angle, the set pointing direction, and the set pitch angle.
[0075] The drone's eastward speed, northward speed, and heading angular velocity are used to enable the drone to track the target at a set pointing direction and pitch angle.
[0076] Furthermore, the present invention also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor runs the computer program to enable the electronic device to execute the aforementioned control method for tracking a target by a drone. The electronic device may be a server.
[0077] Furthermore, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described control method for tracking a target by a drone.
[0078] Finally, to verify the effectiveness of the above method, this invention also conducted a simulation experiment. Assuming the initial position of the target is at (0,60,0) (the position coordinates are in the local coordinate system, with a fixed point in the experimental site as the origin, and the x, y, and z axes pointing east, north, and sky respectively, the same below), and the initial position of the UAV is (0,0,100), the target moves eastward at a speed of 10 m / s for 2 seconds, and then moves southward at a speed of 8 m / s for 2 seconds, the tracking performance of the UAV on the target is observed.
[0079] In this embodiment, it is assumed that the UAV's pitch angle α for the target is -30°, the specified tracking azimuth is 60°, and the flight altitude remains constant at 100m throughout the flight. ψ k φ k θ The values are set to 1, 1, and 1 respectively. The simulation lasts for 10 seconds, and the distance between the drone and the target is observed. Figure 3 As shown in the figure, the x-axis represents time, and the y-axis represents the distance between the UAV and the target. The curve showing the change in the azimuth angle of the UAV pointing towards the target is as follows. Figure 4 As shown, the x-axis represents time, and the y-axis represents the azimuth angle of the UAV pointing towards the target. From Figure 3 and Figure 4 As can be seen, when the target is stationary, the UAV can maintain the set azimuth angle of 45° very well. When the target moves, the azimuth angle changes, but the deviation is small and acceptable.
[0080] In summary, this invention mainly addresses the problem of UAV position tracking when the UAV's onboard gimbal locks onto the target and the UAV's position is limited to the target's orientation. The method, based on the pitch and azimuth angles of the gimbal when locking onto the target, as well as the UAV's flight parameters, including flight altitude and heading, enables the UAV to track the target at a specified orientation by setting the UAV's eastward speed, northward speed, and rotational angular velocity. This method can provide a technical foundation for multi-UAV collaborative target tracking.
[0081] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section.
[0082] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.
Claims
1. A control method for a drone tracking a target, characterized in that, include: Obtain the gimbal pitch angle, gimbal yaw angle, UAV heading angle, and UAV flight altitude; The heading angular velocity of the UAV is determined based on the gimbal yaw angle. Based on the UAV heading angle, the UAV flight altitude, the gimbal pitch angle, the gimbal yaw angle, the set pointing direction, and the set pitch angle, determine the UAV's eastward speed and the UAV's northward speed; The formula for calculating the eastward speed of the UAV is: v e =v x cos(ψ+η)+v y sin(ψ+η); Among them, v e v represents the eastward speed of the drone. x v is the horizontal speed of the drone. y η is the vertical velocity of the UAV, ψ is the heading angle of the UAV, and η is the yaw angle of the gimbal. The formula for calculating the northward speed of the UAV is: v n =-v x sin(ψ+η)+v y cos(ψ+η); Among them, v n For the northbound speed of the drone; The drone's eastward speed, northward speed, and heading angular velocity are used to enable the drone to track the target at a set pointing direction and pitch angle.
2. The control method for tracking a target by an unmanned aerial vehicle according to claim 1, characterized in that, Based on the UAV's heading angle, flight altitude, gimbal pitch angle, gimbal yaw angle, set azimuth, and set pitch angle, the UAV's eastward speed and northward speed are determined, specifically including: The horizontal speed of the UAV is determined based on the UAV's heading angle, the UAV's flight altitude, the gimbal's pitch angle, the gimbal's yaw angle, and the set pointing direction. The vertical speed of the UAV is determined based on the UAV's flight altitude, the gimbal's pitch angle, and the set pitch angle. The eastward speed and northward speed of the UAV are determined based on the UAV's horizontal speed, vertical speed, heading angle, and gimbal yaw angle.
3. The control method for tracking a target by an unmanned aerial vehicle according to claim 2, characterized in that, The formula for calculating the horizontal speed of the drone is: Among them, v x ψ is the drone's horizontal speed, h is the drone's flight altitude, ψ is the drone's heading angle, β is the gimbal pitch angle, η is the gimbal yaw angle, and γ is the set pointing direction. This is the second proportionality coefficient.
4. The control method for tracking a target by an unmanned aerial vehicle according to claim 2, characterized in that, The formula for calculating the vertical speed of the UAV is: v y =k θ h(cotβ-cotα); Among them, v y β is the vertical velocity of the UAV, h is the flight altitude of the UAV, β is the gimbal pitch angle, α is the set pitch angle, and k is the vertical velocity of the UAV. θ This is the third proportionality coefficient.
5. The control method for tracking a target by an unmanned aerial vehicle according to claim 1, characterized in that, The formula for calculating the heading angular velocity of the UAV is: oh ψ =-k ψ or; Where, ω ψ η is the angular velocity of the UAV's heading, η is the yaw angle of the gimbal, and k is the angular velocity of the UAV's heading. ψ This is the first proportionality coefficient.
6. A control system for tracking a target using an unmanned aerial vehicle (UAV), characterized in that, include: The data acquisition module is used to acquire the gimbal pitch angle, gimbal yaw angle, UAV heading angle, and UAV flight altitude. A heading angular velocity determination module is used to determine the heading angular velocity of the UAV based on the gimbal yaw angle. The eastward and northward speed determination module is used to determine the eastward speed and northward speed of the UAV based on the UAV's heading angle, the UAV's flight altitude, the gimbal's pitch angle, the gimbal's yaw angle, the set pointing direction, and the set pitch angle. The formula for calculating the eastward speed of the UAV is: v e =v x cos(ψ+η)+v y sin(ψ+η); Among them, v e v represents the eastward speed of the drone. x v is the horizontal speed of the drone. y η is the vertical velocity of the UAV, ψ is the heading angle of the UAV, and η is the yaw angle of the gimbal. The formula for calculating the northward speed of the UAV is: v n =-v x sin(ψ+η)+v y cos(ψ+η); Among them, v n For the northbound speed of the drone; The drone's eastward speed, northward speed, and heading angular velocity are used to enable the drone to track the target at a set pointing direction and pitch angle.
7. An electronic device, characterized in that, The device includes a memory and a processor, the memory being used to store a computer program, and the processor running the computer program to cause the electronic device to perform the control method for tracking a target by a drone as described in any one of claims 1 to 5.
8. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the control method for tracking a target by a drone as described in any one of claims 1 to 5.