UAV Multi-Target Tracking Using Outer-Frame Vision Control
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Solution Overview
Problem
Current target tracking technologies for unmanned aerial vehicles (UAVs) are limited to single-target tracking and struggle with efficiently managing multiple targets moving at different speeds and distances, requiring a policy to maximize tracking duration and select targets for optimal performance.
Innovation Solution
A method where the UAV determines and generates an outer frame around multiple targets, adjusts flight parameters to maintain the frame within its vision angle, and implements a target discarding policy to ensure robust multi-target tracking by prioritizing and discarding targets based on identification and distance from the frame edge.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the UAV tracks multiple targets simultaneously, then the tracking coverage and utility are improved, but the device complexity and difficulty of managing different motion statuses increase
Solution Approach 1:
The patent segments the multi-target tracking problem into distinct motion status categories (stationary, uniform linear motion, accelerated motion). By classifying targets into these segments, the system applies different tracking policies to each segment, simplifying the overall management complexity while maintaining comprehensive tracking coverage.
Solution Approach 2:
The patent implements dynamic target discarding policies that adapt based on spatial range and motion status. When the spatial range exceeds a threshold or when tracking duration requirements are met, the system dynamically discards lower-priority targets. This dynamic adjustment reduces tracking management complexity while preserving adaptability to different scenario requirements.
2Area of stationary object
If the spatial range of multiple targets is excessively large, then the tracking area coverage is improved, but the tracking precision and performance deteriorate
Solution Approach 1:
The patent changes the parameter of spatial range by implementing a threshold-based discarding mechanism. When the spatial range of tracked targets exceeds a predetermined threshold, the system automatically discards certain targets to restore optimal tracking precision. This parameter adjustment maintains the balance between coverage area and tracking precision.
Solution Approach 2:
The patent applies local quality by implementing different tracking precision requirements for different target groups. High-priority targets maintain strict precision requirements, while discarded or lower-priority targets have relaxed requirements. This localized quality approach allows large spatial coverage while maintaining high precision for critical targets.
3Reliability
If the UAV adjusts flight parameters frequently to maintain all targets in vision range, then the tracking completeness is improved, but the energy consumption increases
Solution Approach 1:
The patent implements a target discarding mechanism that reduces the number of active tracking targets when spatial range or motion status differences become excessive. By discarding lower-priority targets, the system reduces the frequency of flight parameter adjustments needed to maintain all targets in the vision range, thereby reducing energy consumption while maintaining tracking completeness for high-priority targets.
4Device complexity
If the UAV maintains a fixed vision angle, then the device complexity is reduced, but the tracking adaptability to different target configurations deteriorates
Solution Approach 1:
The patent applies preliminary action by pre-calculating the minimum vision angle required based on target spatial distribution and motion status before executing tracking. This preliminary calculation allows the system to adjust the vision angle proactively rather than reactively, improving tracking adaptability while avoiding excessive complexity in real-time control adjustments.
Data Source
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AI summary
The embodiments of the present invention disclose a target tracking method, an unmanned aerial vehicle, and a computer readable storage medium. The method includes: determining, by an unmanned aerial vehicle, at least two targets that need to be tracked; generating, by the unmanned aerial vehicle, an outer frame according to location information of the at least two targets, where the at least two targets are located within the outer frame or on the outer frame; and adjusting, by the unmanned aerial vehicle, a flight parameter of the unmanned aerial vehicle, so that the outer frame falls within a vision angle range of the unmanned aerial vehicle. According to the solutions of the embodiments of the present invention, the unmanned aerial vehicle generates the outer frame according to the location information of the at least two targets, and the unmanned aerial vehicle adjusts the flight parameter of the unmanned aerial vehicle, so that the outer frame falls within the vision angle range of the unmanned aerial vehicle. In this way, multiple targets are converted to a "single target", to find an optimal location for observing all the multiple targets, and it is ensured that the multiple targets are tracked with robustness for maximum duration.