The Research Of Target Recognition And Tracking System Based On The Quadrotor

With the popularity of quad-rotor aircraft,quad-rotor aircraft is more and more worth to study.It plays an important role in aerial photography,live broadcasting,logistics transportation,and automatic tracking,et al.The target recognition and tracking technology base on quad-rotor aircraft is also a focus in the field of UAV navigation.In this paper,the control principle of quad-rotor aircraft is studied,using quad-rotor aircraft with camera as the platform,the target recognition and tracking technology base on quad-rotor aircraft is studied deeply.The main research work of this paper is as follows:Firstly,this paper introduces significance of the research,introduces the current situation and achievements of relevant subject,analyse the major study context of this paper,and puts forward the overall design scheme.Secondly,the control principle of quad-rotor aircraft is studied,design quad-rotor aircraft,analyse sensor data with adjustment and filtering of sensor data.Analyse attitude fusion and algorithm of quad-rotor aircraft,attitude control of quad-rotor aircraft is studied.Thirdly,analyse the video images collected from quad-rotor aircraft,Image enhancement algorithm is studied for motion biur,analyse camera motion models in video and global motion estimation based on feature point matching,establish mathematical model,video image preprocessing and stabilization is realized.Based on that,KCF target recognition and tracking technology is studied,analyse the principle of cyclic matrix generation and speed-raise in KCF.Finally,analyse and integration system,quad-rotor aircraft shoot video using camera and transfer video to computer,operator select the target object,computer recognition and tracking the tareget object and transfer coordinate to quad-rotor aircraft,quad-rotor aircraft control self-position using this coordinate,completed the research of target recognition and tracking system based on the quad-rotor aircraft.