A kind of unmanned aerial vehicle system for wild animal autonomous monitoring and continuous tracking

Abstract

The application discloses a kind of wild animal monitoring-oriented airborne autonomous identification positioning and continuous tracking unmanned aerial vehicle system, belong to unmanned aerial vehicle airborne photoelectric monitoring, target positioning and autonomous flight control technical field.The system includes unmanned aerial vehicle platform, multimodal photoelectric load, laser ranging unit, positioning attitude measurement unit, airborne signal processing unit, target geographic position resolving unit, target state updating unit and flight control decision unit.Multimodal photoelectric load obtains visible light image and / or thermal infrared image;Airborne signal processing unit completes target detection and confirmation at unmanned aerial vehicle end;Laser ranging unit obtains target slant range;Target geographic position resolving unit resolves target geographic position according to position attitude information, photoelectric load pointing angle and target slant range;Target state updating unit updates target state, and flight control decision unit controls unmanned aerial vehicle to execute tracking, hovering observation, local supplementary search or task end.The system is used for airborne autonomous continuous tracking.

Description

Technical Field

[0001] This invention belongs to the field of UAV-borne optoelectronic monitoring, wildlife target recognition, and autonomous flight control technology, specifically relating to a UAV system for autonomous monitoring and continuous tracking of wildlife. This UAV system is suitable for the automatic search, identification, location, and continuous tracking of wildlife in field monitoring missions, and is particularly suitable for complex field environments with mountain obstructions, vegetation cover, and unstable communication links. Background Technology

[0002] Currently, traditional methods of wildlife monitoring, such as manual patrols, fixed cameras, collar positioning, and conventional drone inspections, suffer from problems including insufficient real-time performance, heavy reliance on individual animals, high equipment deployment and maintenance costs, and difficulty in continuous tracking. Therefore, a more flexible and cost-effective wildlife monitoring method is needed.

[0003] However, existing UAV target tracking solutions typically rely on ground station signal reception, manual target confirmation, and remote control. After the UAV transmits visible light or thermal infrared images back to the ground station, operators confirm the target and then remotely control the UAV or electro-optical payload to adjust its trajectory and field of view via the ground station. This method is easily affected by mountain obstructions, vegetation obstructions, and unstable communication in complex outdoor environments, leading to signal interruptions, delays in manual confirmation, and target tracking loss. Furthermore, traditional UAV electro-optical monitoring usually focuses on whether a target appears in the image, but the target detection results often remain within the image coordinates or field of view, and cannot be reliably converted into a target geographical location that can be used for flight control. For wild animals, image detection results alone are insufficient to support stable UAV tracking, hovering observation, and localized re-search after a short-term loss of the target.

[0004] Visible light images, thermal infrared images, laser ranging data, UAV position and attitude information, and the pointing angle of the photoelectric payload often come from different hardware units. Since this data is not processed uniformly at the UAV end, the target geolocation calculation is affected by the combined motion of the UAV, the rotation of the photoelectric payload, and the target. When the target deviates from the detection or ranging field of view, the UAV cannot autonomously adjust the pointing of the photoelectric payload based on the target image position, making laser ranging prone to failure.

[0005] Therefore, a systematic solution centered on autonomous processing at the UAV end is needed, so that wildlife target identification, target confirmation, laser ranging, target geographical location calculation, target status update and flight control decision-making can all be completed at the UAV end, so that the real-time tracking and control process does not rely on manual confirmation from external display terminals or task interaction interfaces. Summary of the Invention

[0006] The primary objective of this invention is to overcome the shortcomings of existing technologies and provide an unmanned aerial vehicle (UAV) system for autonomous monitoring and continuous tracking of wild animals. This system comprises an airborne integrated control system, a multimodal photoelectric sensing system, a target detection and spatial positioning system, a target status maintenance system, and an autonomous tracking mission decision-making system. The UAV is equipped with a rechargeable power module to provide power for the UAV and all other systems.

[0007] The airborne integrated control system, as the core control of the UAV system, includes a central microprocessor, a flight status acquisition module, a mission status evaluation module, a flight mode switching module, a flight control interface module, and the UAV flight control system. This system collects UAV flight status information, comprehensively evaluates mission execution status, switches flight modes according to mission execution conditions, and automatically sends control commands to the UAV flight control system through the flight control interface, realizing automatic flight control of the UAV and data transmission management between various systems.

[0008] The multimodal photoelectric sensing system consists of a photoelectric microcontroller, optical equipment, and a gimbal control system. The photoelectric microcontroller controls the optical equipment to complete photoelectric information acquisition and data synchronization, and sends the acquired photoelectric information to the target detection and spatial positioning system.

[0009] The target detection and spatial positioning system includes an image processing system, a target detection system, a target geographic location calculation module, and an optoelectronic control system. The image processing system includes an image synchronization module, an image registration module, an image super-resolution module, and an image fusion module, performing synchronization, registration, super-resolution reconstruction, and fusion processing on acquired multimodal images. The target detection system includes a target detection module and a target center extraction module, used to identify wildlife targets and extract their center positions. The target geographic location calculation module combines the target center position, laser ranging data, gimbal attitude information, inertial navigation information, and GPS positioning information to calculate the target's actual geographic location and send the target's geographic location to the target status maintenance system. The optoelectronic control system includes gimbal attitude, laser ranging, inertial navigation sensors, and GPS sensors, used to calculate the target's latitude and longitude based on the UAV's flight attitude and ranging information, and the gimbal attitude information.

[0010] The target status maintenance system consists of a target tracking system, a target information management system, and a target status estimation and recapture system. The target tracking system includes a target number management and historical trajectory maintenance module, used to maintain target identity information and historical trajectories. The target information management system includes a target information management module and a target status judgment module, used to maintain target information and update target status. The target status estimation and recapture system includes an existence status judgment and motion status estimation module, which estimates the target's motion status based on the target's historical trajectory and continuous changes in target position, and performs target status prediction and recapture in the event of short-term target loss, providing continuous and stable target status information for subsequent autonomous tracking.

[0011] The autonomous tracking mission decision-making system comprises a mission decision-making system and a path control system. The mission decision-making system includes a mission mode selection module, a mission priority determination module, and a mission decision-making module. Based on the target status information output by the target status maintenance system, it selects the corresponding tracking mode and completes the mission priority decision. The path control system includes an automatic path planning module and a tracking, hovering, target re-search, or return-to-home mission generation module. Based on the mission decision results, it automatically generates UAV flight control missions and sends these missions to the onboard integrated control system for execution, enabling the UAV to perform autonomous tracking, hovering observation, target re-search, and autonomous return-to-home missions.

[0012] This invention follows a data processing flow of "multimodal photoelectric sensing—target detection and recognition—target spatial positioning—target status maintenance—autonomous mission decision-making—flight control execution" to achieve the coordination of target detection, spatial positioning, status maintenance, mission decision-making, and flight control. After the target detection and spatial positioning system obtains target information, the target status maintenance system continuously maintains the target status and updates target motion information. The autonomous tracking mission decision-making system generates corresponding flight missions based on the target status. The airborne integrated control system executes flight control and provides real-time feedback on the flight status. This enables the UAV to autonomously complete the search, identification, positioning, continuous tracking, hovering observation, target re-search, or autonomous return of wild animal targets without relying on manual intervention from ground stations. It can perform autonomous monitoring and continuous tracking of wild animals in complex field environments such as those with mountain obstructions, vegetation obstructions, and unstable communication links. Attached Figure Description

[0013] 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.

[0014] Figure 1 This invention relates to an unmanned aerial vehicle (UAV) for autonomous monitoring and continuous tracking of wild animals.

[0015] Figure 2This is an airborne integrated control system according to an embodiment of the present invention.

[0016] Figure 3 This is a multimodal photoelectric sensing system according to an embodiment of the present invention.

[0017] Figure 4 This is a target detection and spatial positioning system according to an embodiment of the present invention.

[0018] Figure 5 This is the target state maintenance system according to an embodiment of the present invention.

[0019] Figure 6 This is an autonomous tracking task decision system according to an embodiment of the present invention. Detailed Implementation

[0020] Matters not covered in this invention are common knowledge. The technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. However, the described embodiments are only some embodiments of this invention, not all embodiments. The above embodiments are only for illustrating the technical concept and features of this invention, and are intended to enable those skilled in the art to understand the content of this invention and implement it accordingly, and should not be used to limit the scope of protection of this invention. All equivalent transformations or modifications made according to the spirit and essence of this invention should be covered within the scope of protection of this invention.

[0021] like Figure 1 As shown, the present invention provides an unmanned aerial vehicle (UAV) system for autonomous monitoring and continuous tracking of wild animals. The system consists of an airborne integrated control system 1, a multimodal photoelectric sensing system 2, a target detection and spatial positioning system 3, a target status maintenance system 4, and an autonomous tracking task decision system 5.

[0022] like Figure 2As shown, the airborne integrated control system 1 includes a power supply 6, a central microprocessor 7, a flight status acquisition module 8, a mission status evaluation module 9, a flight mode switching module 10, a flight control interface module 11, and a UAV flight control system 12. The power supply 6 is a rechargeable power module used to power the airborne integrated control system and other airborne equipment of the UAV. The central microprocessor 7 includes a computing unit, a control unit, a communication unit, and an I / O control module, used to complete data interaction and control coordination between various systems. The flight status acquisition module 8 is used to collect UAV flight status information, including inertial navigation information, positioning information, and flight attitude information, and sends it to the mission status evaluation module 9. The mission status evaluation module 9 determines whether the current UAV meets the mission execution conditions based on the flight status information and mission execution status, and sends the mode switching conditions to the flight mode switching module 10. The flight mode switching module 10 completes the flight mode switching according to the mode switching conditions, and sends flight control commands to the UAV flight control system 12 through the flight control interface module 11. The UAV flight control system 12 feeds back the flight mode execution results and flight status to the flight status acquisition module 8 and the mission status evaluation module 9, so that the mission status evaluation module 9 can determine whether the current mission is being executed normally.

[0023] like Figure 3 As shown, the multimodal optoelectronic sensing system 2 includes an optoelectronic microcontroller 13, an optical device 14, and a gimbal control system 15. The optical device 14 includes a visible light module, a thermal infrared module, and a laser ranging module, used to simultaneously acquire optoelectronic information such as visible light images, thermal infrared images, and laser ranging data of the target, and send them to the optoelectronic microcontroller 13. The optoelectronic microcontroller 13 acquires multi-source optoelectronic data according to a unified time reference and sends the processed image data to the target detection and spatial positioning system 3. Simultaneously, based on the target center position and control commands returned by the target detection and spatial positioning system 3, the gimbal control system 15 controls the attitude of the optical device, keeping the target continuously at the center of the optoelectronic device's field of view, and acquiring gimbal attitude information and laser ranging information in real time, providing positioning parameters for target spatial positioning.

[0024] Specifically, let the target center pixel coordinates obtained by the target center extraction module be... The coordinates of the center pixel of the image field of view are ( , Then the horizontal deviation of the target relative to the center of the image field of view is... and vertical deviation They are respectively:

[0025]

[0026] The photoelectric microcontroller 13 is based on the horizontal deviation and vertical deviation Generate adjustment commands for the gimbal's azimuth and pitch directions. In one implementation, the gimbal azimuth adjustment amount... and gimbal tilt angle adjustment They are respectively:

[0027]

[0028] in, and These are the control coefficients for the azimuth and pitch directions of the gimbal. To prevent frequent gimbal rotation caused by the target center fluctuating near the center of the field of view, a horizontal deviation threshold is set. and vertical deviation threshold When the following equation is satisfied, the gimbal control system 15 maintains its current pointing direction:

[0029] When any deviation exceeds the corresponding threshold, the gimbal control system 15 controls the servo motor and motor to rotate according to the corresponding adjustment amount, so that the target gradually moves to the center area of ​​the field of view.

[0030] To improve the effectiveness of laser ranging results, a preset ranging region corresponding to the laser ranging optical axis is set in the image. Let the projection position of the laser ranging optical axis on the image plane be... The pixel distance between the target center and the projected position for:

[0031] When the distance between the target center and the projected position of the laser ranging optical axis satisfies the following formula, the target is determined to be within the effective laser ranging area, and the laser ranging module is triggered:

[0032] in, This is the preset ranging area radius. Let the current laser ranging value be... The minimum and maximum effective distances of the laser ranging module are respectively and The effective ranging value at the previous moment was The distance jump threshold is A distance measurement result is considered valid only if it meets all of the following conditions:

[0033]

[0034] When the target center is outside the preset ranging area, or when the current ranging value does not meet the above validity conditions, the current ranging result is not used for target geographical location calculation. The photoelectric microcontroller 13 controls the gimbal to continue adjusting the optical device pointing and re-triggers laser ranging.

[0035] like Figure 4 As shown, the target detection and spatial positioning system 3 includes an image processing system 16, a target detection system 17, an optoelectronic control system 18, and a target geographic location calculation module 19. The image processing system 16 includes an image synchronization module, an image registration module, an image super-resolution module, and an image fusion module, used for image synchronization, spatial registration, super-resolution reconstruction, and fusion processing of visible light and thermal infrared images to obtain high-quality images. The target detection system 17 includes a target detection module and a target center extraction module, performing target recognition on the fused image and outputting target category information, target center position, and target confidence level. The optoelectronic control system 18 acquires gimbal attitude information, laser ranging information, inertial navigation information, and GPS positioning information, combining them with the target center position to form target spatial positioning parameters. The target geolocation calculation module 19 converts the line-of-sight vector to the UAV body coordinate system based on the target center position and the position of the detection frame in the camera coordinate system, according to the gimbal azimuth and pitch angles. It then converts the line-of-sight vector to the navigation coordinate system by combining the roll angle, pitch angle, and heading angle from the inertial navigation sensor. The laser range measurement value is used as the distance of the target along the line-of-sight direction. The module calculates the spatial position of the target relative to the UAV and calculates the target geolocation by combining GPS positioning information and UAV altitude. Finally, the target geolocation is sent to the target status maintenance system 4.

[0036] like Figure 5 As shown, the target status maintenance system 4 includes a target tracking system 20, a target information management system 21, and a target status estimation and recapture system 22. The target tracking system 20 includes a target number management and historical trajectory maintenance module, which is used to establish target numbers and maintain target historical trajectories. The target information management system 21 includes a target information management module and a target status judgment module, which are used to manage target basic information and update target status. The target status estimation and recapture system 22 includes an existence status judgment module and a motion status estimation module, specifically: (1) When the target detection confidence reaches a preset threshold, the target existence status is updated to confirmed. (2) When no target detection result is obtained for several consecutive frames, the target status is updated to temporarily lost. (3) During the temporary loss period, the target position is predicted based on the historical trajectory, motion direction, and motion speed, and the gimbal is controlled to perform a local scan around the predicted position.

[0037] When one or more candidate targets are re-detected within the prediction area, the target state estimation and re-acquisition system 22 calculates a comprehensive matching score based on the position matching degree, target category matching degree, and motion continuity matching degree between the candidate target and the original tracked target. Overall matching score of candidate targets for:

[0038] in, The positional matching degree of the candidate target. For target category matching degree, For motion continuity matching degree, , and For the corresponding weights, and satisfying:

[0039] Let the target location predicted by the historical trajectory be... , No. The positions of the candidate targets are Then the position matching degree It can be represented as:

[0040] in, This is the location matching range parameter. When the candidate target category matches the original tracked target category, and the comprehensive matching score satisfies the following formula, the candidate target is associated with the original target number, and the target tracking status is restored:

[0041] in, A preset identity matching threshold is set. When multiple candidate targets meet the identity matching conditions, the candidate target with the highest comprehensive matching score is selected and associated with the original target number.

[0042] (4) When the target corresponding to the target number is detected again, the tracking status is restored. (5) If the target is not recaptured after the preset loss time, the target status is updated to tracking failure, and a request to supplement the search or terminate the task is sent to the autonomous tracking task decision system.

[0043] like Figure 6 As shown, the autonomous tracking task decision system 5 includes a task decision system 23 and a path control system 24. The task decision system 23 includes a task mode selection module, a task priority judgment module, and a task decision module. Based on the target status information output by the target status maintenance system 4, it completes the task mode selection and task priority judgment, and generates the corresponding task decision results.

[0044] Let the estimated velocity of the target be... The threshold for judging the target motion state is The drone has a remaining battery level of 1000. The return-to-home battery threshold is The task decision system 23 selects the task mode according to the following rules: (1) When the target's existence status is confirmed, the target's geographical location is valid, and the following conditions are met: At that time, a continuous tracking task is generated;

[0045] (2) When the target's existence status is confirmed, the target's geographical location is valid, and the following conditions are met: At that time, a hovering observation task is generated;

[0046] (3) When the target status is temporarily lost and the target loss time does not exceed the preset re-search time, generate a target re-search task; (4) When the target status is tracking failure, or the target loss time exceeds the preset re-search time, generate a task to terminate the current target tracking task or expand the search range; (5) When satisfied Or, if the drone experiences at least one of the following situations: abnormal navigation status, abnormal flight status, or mission execution time exceeding the preset time, an autonomous return mission will be generated.

[0047] (6) When the return mission meets the triggering conditions at the same time as the continuous tracking mission, the circling observation mission, or the target re-search mission, the return mission has a higher mission priority.

[0048] The path control system 24 includes an automatic path planning module and a tracking, hovering, target re-search, and return-to-home task generation module. Based on the task decision results, it generates UAV flight control tasks, including continuous target tracking, hovering observation, target re-search, and autonomous return-to-home tasks. The generated flight control tasks are sent to the airborne integrated control system 1 for execution. The airborne integrated control system 1 controls the UAV to complete the corresponding flight control, and the flight status is fed back to the target status maintenance system 4. The airborne integrated control system 1 feeds back the flight mode, flight position, flight attitude, and task execution status to the autonomous tracking task decision system and the target status maintenance system for updating the current task status and subsequent task decisions.

[0049] In one implementation, when the target status maintenance system 4 updates the target status to temporarily lost, the target status estimation and recapture system 22 calculates the target's predicted location and predicted area based on the target's last valid geographical location, historical movement direction, and movement speed.

[0050] In the first re-search phase, the UAV maintains its current flight position and trajectory or reduces its flight speed, while the gimbal control system 15 performs a local scan around the predicted line of sight to the target. Let the initial re-search area radius be... The duration of target loss is The expansion coefficient of the supplementary search area is Then the radius of the current search area for:

[0051] As the duration of target loss increases, the local scanning range of the gimbal expands accordingly.

[0052] When the gimbal control system 15 fails to detect a target that meets the identity matching conditions again within the first preset supplementary search period, it enters the second supplementary search phase. The path control system 24 generates a supplementary search trajectory for the UAV based on the predicted geographical location of the target, and controls the UAV to move towards or fly around the predicted target area. While the UAV is executing the supplementary search trajectory, the gimbal control system 15 continuously updates the optical device pointing based on the real-time position of the UAV and the predicted position of the target, and performs scanning around the predicted line of sight.

[0053] When a target matching the identity criteria is detected again, the current search trajectory is stopped, the newly detected target is associated with the original target number, the target's geographical location and motion status are updated, and the system switches to either continuous tracking or hovering observation missions based on the target's motion status. If the target is not detected again after the preset search time, the target status is updated to tracking failure, and the system selects to expand the search area, terminate the current mission, or perform an autonomous return mission based on the UAV's remaining battery power, mission priority, and flight safety status.

[0054] Compared with the prior art, the present invention has at least the following beneficial effects: First, by completing multimodal image processing, target detection, target geolocation calculation, target status maintenance, and mission decision-making on the UAV end, the impact of communication link interruptions and delays in ground manual confirmation on tracking missions can be reduced.

[0055] Second, by controlling the gimbal attitude based on the target's center position, the target is kept within the imaging field of view and the effective area of ​​laser ranging, thus improving the continuity of target ranging and spatial positioning.

[0056] Third, by maintaining the target number, historical trajectory, motion status and existence status, the system generates a predicted location and performs a follow-up search when the target is temporarily occluded or lost, thereby improving the continuous target tracking capability in complex field environments.

[0057] Fourth, by switching between tracking, hovering, re-searching, and return-to-home tasks based on the target's motion status and the UAV's flight status, the safety and continuity of UAV autonomous monitoring tasks are improved.

[0058] The description of the embodiments in this specification should be taken in conjunction with the accompanying drawings, which should form part of the complete specification. In the drawings, the shape or thickness of the embodiments may be exaggerated and may be indicated in a simplified or convenient manner. Furthermore, parts of the various structures in the drawings will be described separately; it is worth noting that elements not shown in the figures or not described in words are in a form known to those skilled in the art.

[0059] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A drone system for autonomous monitoring and continuous tracking of wild animals, characterized in that... Unmanned aerial vehicle (UAV) platforms are used to carry onboard equipment and perform flight operations according to flight control missions. A multimodal optoelectronic sensing system is installed on the UAV platform and includes an optoelectronic microcontroller, optical devices, and a gimbal control system. The optical devices include a visible light module, a thermal infrared module, and a laser ranging module, used to acquire visible light images, thermal infrared images, laser ranging data, and gimbal attitude information of wildlife targets. The target detection and spatial positioning system, connected to the multimodal optoelectronic sensing system, includes an image processing system, a target detection system, and a target geographic location calculation module. It is used to detect wild animal targets based on the visible light and thermal infrared images and extract the target's center position. Based on the target's center position, it controls the gimbal control system to adjust the optical device's pointing direction. After the target enters a preset ranging area, it acquires effective laser ranging data. Finally, it calculates the target's geographic location based on the target's center position, effective laser ranging data, gimbal attitude information, UAV position and attitude information, and positioning information. The target status maintenance system, connected to the target detection and spatial positioning system, includes a target tracking system, a target information management system, and a target status estimation and recapture system. It is used to maintain the target number and target historical trajectory, determine the target motion status and target existence status based on the target's geographical location at continuous times, and predict the target position and perform target recapture when the target is temporarily lost. An autonomous tracking mission decision system, connected to the target status maintenance system, includes a mission decision system and a path control system. It is used to select between continuous tracking mission, hovering observation mission, target re-search mission and autonomous return mission based on the target motion status, target existence status and UAV flight status, and generate corresponding flight control missions. The airborne integrated control system is connected to the multimodal optoelectronic sensing system, the target detection and spatial positioning system, the target status maintenance system, and the autonomous tracking mission decision-making system, respectively. It is used to acquire the UAV flight status, evaluate mission execution conditions, switch flight modes, and control the UAV platform to perform corresponding flights according to the flight control mission. The target detection, gimbal pointing adjustment, laser ranging, target geographical location calculation, target status maintenance, target re-acquisition, mission decision-making, and flight control are all completed on the UAV platform, forming an airborne autonomous continuous tracking process that does not rely on external terminals for real-time manual confirmation.

2. The unmanned aerial vehicle system according to claim 1, characterized in that, The multimodal photoelectric sensing system and the target detection and spatial positioning system synchronize or compensate for time, so that image data, ranging data, UAV position and attitude data and gimbal attitude data within the same target observation period correspond to the same observation time or the equivalent observation time after compensation.

3. The unmanned aerial vehicle system according to claim 1, characterized in that, The target detection system includes a target detection module and a target center extraction module. The target center extraction module is used to determine the target center pixel coordinates and calculate the horizontal and vertical deviations between the target center pixel coordinates and the image field of view center pixel coordinates.

4. The unmanned aerial vehicle system according to claim 1, characterized in that, The preset ranging area is determined based on the projection position of the laser ranging optical axis on the image plane. When the distance between the target center position and the projection position is not greater than the preset ranging area threshold, the photoelectric microcontroller triggers the laser ranging module to acquire laser ranging data.

5. The unmanned aerial vehicle system according to claim 1, characterized in that, The target geographic location calculation module is configured to determine the target's line of sight direction based on the target's center position and gimbal attitude information.

6. The unmanned aerial vehicle system according to claim 1, characterized in that, The target status includes at least the confirmed status, stable tracking status, hovering and observation status, temporarily lost status, re-search status, and tracking failure status.

7. An airborne autonomous identification, positioning, and continuous tracking method for wildlife monitoring, characterized in that, Visible light and / or thermal infrared images of wildlife targets are acquired through a multimodal optoelectronic sensing system deployed on an unmanned aerial vehicle (UAV) platform. A target detection and spatial positioning system detects wildlife targets and extracts their center position on the UAV platform. The target's geographical location is calculated based on the target's center position, laser ranging data, gimbal attitude information, UAV position and attitude information, and positioning information. The target's motion and presence status are updated based on its continuous geographical location, detection confidence, and historical trajectory. When a target is temporarily lost, its location is predicted based on its last valid geographical location, historical trajectory, direction of movement, and speed. Target re-acquisition is then performed based on the candidate target's position matching degree, category matching degree, and motion continuity matching degree. Based on the target's motion and presence status and the UAV's flight status, continuous tracking, hovering observation, target re-search, or autonomous return-to-home tasks are generated. The UAV platform is controlled by an onboard integrated control system to execute the generated tasks and provide flight status feedback. Target detection, gimbal pointing adjustment, laser ranging validity assessment, target geographical location calculation, target status update, target re-acquisition, and task decision-making are all completed on the UAV platform.

8. The method according to claim 7, characterized in that, The target re-search includes a first re-search phase, in which the UAV maintains its current flight position and trajectory or reduces its flight speed, and controls the gimbal to perform a local scan around the predicted line of sight of the target. If no target meeting the preset identity matching conditions is detected again within the first preset re-search period, the second re-search phase begins. A re-search trajectory is generated based on the predicted target position, and the UAV is controlled to move towards or fly around the predicted target area, while the gimbal is continuously controlled to point towards the predicted target area during flight. When a target meeting the preset identity matching conditions is detected again, the current re-search trajectory is stopped, the original target number is restored, and the system switches to a continuous tracking task or a hovering observation task.

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