Research On Target Tracking System Based On Unmanned Platform

With the explosive growth of civilian-class unmanned aerial vehicles(UAVs),the acquisition and application of civilian-class UAVs becomes more and more easier,which has brought great challenges to UAV management,especially in sensitive areas such as airports and security units.The monitoring and management of the UAVs becomes more important.At present,the police of the real name management from the purchase of UAVs is about to be issued.Except that,there are no other effective means of supervision on civilian-class UAVsIn view of the above situation,this paper researches on the design and implementation of a UAV-based target tracking platform.The platform mainly completes the detection and tracking of illegal target unmanned aerial vehicles.The main work and innovation are as follows:(1)UAV target tracking technology has became more and more mature at present,but the current tracking targets mainly focus on humans,vehicles and other ground-based targets.The civilian-class UAVs are rarely studied as tracking targets.In this paper,we try to carry out the target detection and tracking task with the UAVs as targets.(2)This paper mainly focuses on the building of the system platform and the algorithms of target detection and tracking.Based on the analysis of the UAVs as the tracking targets,the system structure and the overall framework of the UAV detection and tracking system are determined.The system is divided into four subsystems.And the designs of the subsystems and the selection of important components are completed.(3)In the aspect of target detection algorithm,this paper is based on the global contrast based salient region detection(RC)algorithm.The improved simple linear iterative cluster(SLIC)algorithm is used instead of Graph-Based as the preprocessing algorithm.The color space and Euclidean space are used to calculate the significant value.The area context environment information eliminates the error caused by direct assignment.Experiments show that the improved algorithm is effective and can be used as detection algorithm to eliminate background interference and to adaptively lock the target,and to highlight the target.(4)In the aspect of the tracking algorithm,this paper is based on the improved Camshift algorithm combined with the Kalman filter algorithm to achieve the tracking of moving objects.In this paper,Camshift algorithm is proposed to solve the problem of color background similarity,and the H component as well as LBP template is adopted in the Camshift algorithm to improve the disadvantages of the Camshift algorithm.Experiments show that the algorithm can effectively solve the problem of occlusion and interference of background color in the tracking process.Finally,in order to verify the rationality of the system platform and related algorithms,the paper conducts the target detection and tracking test in two scenes of simple background and complex background respectively,and the results of each experiment are described accordingly.The results of the two experiments show that the UAV target tracking platform is stable and the algorithm has good tracking effect,which lays the foundation for further research.