Design Of UAV Target Tracking System Based On Visial Aid

Multi-rotor UAV has some advantages like reasonable structure,light weight and relatively simple control system,which bring its more extensive applications.While,with the development of visual navigation technology,the target tracking technology of multi-rotor UAV based on visual assistance has received a lot of attention.The application of visual navigation technology in UAV target tracking field,such as autonomous navigation,target search and other scenes,has brought further development to the application of UAV.Aiming at the long-time tracking problem of the ground moving target for the multi-rotor UAV,In this paper,the self-built multi-rotor UAV is used as the experimental platform,a vision-aided target tracking system for multi-rotor UAV is designed,including the overall design and the specific implementation process.Firstly,according to the tracking requirement of the multi-rotor unmanned aerial vehicle on the ground moving target,the flight principle and dynamic model of multi-rotor UAV are analyzed and studied.And,the relative position of the UAV and the target,the positioning method of the target are described in detail.Secondly,the overall structure of the target tracking system is designed to determine the selection of image acquisition and processing module and flight control module,so that the design and construction of target tracking platform for Multi-rotor UAV are finished.Aiming at the tracking flight control of UAV,a flight control law based on cascade PID is designed to realize the position tracking control of UAV.Then,by the design of combining the color feature extraction with the target tracking improvement algorithm of the TLD,the effective identification and tracking of the moving target is realized.The OpenCV-based computer visual library is used to extract the color feature and get the initial feature of the target.By the tracking,learning and detection module of TLD algorithm,the long-term and effective tracking of ground targets is realized.Finally,based on the designed flight experiment platform,the actual tracking flight experiment and the verification of tracking algorithm are carried out.According to the analysis of the experimental results,the target tracking system designed in this paper can track the target accurately and stably.the designed algorithm combining color feature extraction with the target tracking of the TLD ensures that the target can be exactly identified and tracked in the circumstances that target is changed by external factors such as deformation,light change and occlusion and recovery.The stability and reliability of tracking system are improved and it has important reference value in engineering application.