Target Recognition And Positioning Of Four-rotor Uav Based On Machine Vision

Nowadays,in war and urban construction,there is an increasing need to collect and process more and more environmental information more quickly.In complex environments,where it is difficult for humans to move,sending drones to search for targets is a convenient way.Whether in the military or civil,the research on the identification and positioning algorithm of the search target is very critical in the process of uav search,which also requires us to continuously improve the ability of the four-rotor uav to identify and locate the target.Compared with other methods,the target recognition based on machine vision is more prominent in the completion results and can show more complex functional relations.The trained neural network can independently complete the learning and detection of the newly accepted image without manual input,and can obtain more accurate results.Therefore,the combination of four-rotor uav and machine vision is also more and more popular.Therefore,the research on target recognition and positioning of four-rotor uav based on machine vision has realistic requirements and practical significance.This paper presents a method for target recognition and location of four-rotor uav based on machine vision.This paper first explains the background and research significance of the subject,then analyzes the research status of the four-rotor uav target positioning and machine vision at home and abroad,and introduces the research content of this paper.Then,in order to realize the system control of uav,the flight principle and motion equation of uav are analyzed,the mathematical model of uav is analyzed,and the target recognition and positioning method of four-rotor uav is designed.The target recognition algorithm based on four-rotor uav is studied.Then the complex digital image is preprocessed to reduce the workload of image processing.On the basis of common target recognition algorithms,the feature value filtering is carried out to increase the trust rate of target recognition.On this basis,the target recognition algorithm is improved,and the practicability and accuracy of the target recognition algorithm are proved by comparing the improved algorithm with the improved one.Then the algorithm of the target positioning system of the four-rotor uav is studied.The four rotor uav model and camera model are analyzed,the corresponding coordinate system is established,and the transformation algorithm is given.Inertial navigation system and ultrasonic module are used to solve the uav attitude and positioning.Kalman filter is used to filter the inertial navigation system.The uav target positioning algorithm is given.Positioning frame according to the target recognition,the specific hardware structure of the uav system design and the environment of software development,including the design of unmanned aerial vehicle(uav)control unit and the design of the uav itself,in the design of unmanned aerial vehicle(uav)and the hardware structure of the uav itself and machine vision hardware platform and software environment,then the unmanned aerial vehicle(uav)control system for debugging,and flight test experiment was carried out,based on the four rotor aircraft target positioning and recognition experiment,the experimental results show that this design uav target recognition and positioning method is feasible.Finally,the paper summarizes the content of this paper,and the future work prospects.