Research On Ground Moving Target Tracking Technology Of Unmanned Multi-rotor Copter Based On Vision Navigation

In recent years,Unmanned Aerial Vehicle(UAV)has attracted more and more attention because of its low cost,good maneuverability,flight stability and so on.With the rapid development of image processing technology,in addition to the traditional global position system(GPS)navigation and inertial navigation,using visual technology for autonomous navigation of UAV has become a hot topic of current research.In this paper,aiming at the requirement of autonomous tracking specific moving targets in specific area,taking a multi-rotor aircraft as the experiment platform,a set of indoor ground moving target tracking control system of multi-rotor aircraft based on vision navigation is designed and the actual flight performance is tested.The main research contents and results are as follows:Firstly,based on the analysis of functional requirements,the hardware scheme of ground moving targets tracking control system of multi-rotor aircraft is designed,mainly including image acquisition and processing module and flight control module.And then overall design of the software system is given.What's more,the functions of the image acquisition and processing module and flight control module and the communication protocol between the two modules are determined.Secondly,the algorithm of the moving target extraction based on HSV color feature and contour feature and the relative position calculation of multi-rotor UAV and moving target is designed.On this basis,trajectory prediction of moving target based on Kalman filtering is done.A practical algorithm for moving target detection and trajectory prediction is presented.Thirdly,based on the information obtained by image processing,autonomous flight control of multi-rotor UAV is designed,including flight velocity control based on sparse optical flow,field boundary control based on gray histogram matching,tracking control based on the moving target position and so on.Finally,the test platform for ground moving target tracking control system of multi-rotor UAV is established and the performance of the velocity control,filed boundary control,tracking control is tested.The test results show that the ground moving target tracking system designed in this paper with good real-time,rapidity and stability has important reference value for engineering applications.