Research On UAV Target Tracking System Based On APM Platform

With the development of film technology, in order to better display the visual effects, more and more aerial picture appears in the film and television works, especially in the modern commercial films, the use of aerial method to people, cars and other target tracking become popular Scenes. Aerial photography perspective to bring the audience a stunning visual experience, the target tracking has become one of the main shooting skills.Traditional aerial photography use costly manned fixed-wing aircraft or helicopter. Compared to manned aerial photography, the use of low-cost unmanned multi-rotor drones, only need one or two people. However, the use of multi-rotor UAV target for shooting need the operator’s requirements are very high, while the operator needs to control the direction and speed of the UAV to flight stable, also need controlling the angle of the camera for shot, need to have a wealth of operational experience to capture a smooth video.APM stands for ArduPilotMega, in 2009 DIY Drones UAV community launched this open source UAV control system. To solve the high difficulty of manually operated drones for target tracking shot issue, use a GPS location-based APM platform multi-rotor UAV, develop an automatic tracking target shooting system, significantly reducing the operating multi-rotor UAV Tracking shooting’s difficulty. This paper studies the architecture of APM multi-rotor UAV, mainly composed of attitude measurement module, motor drive module, communication module and main control module. According to the architecture of APM platform, complete the following:(1) According to the architecture APM multi-rotor UAV, select the appropriate attitude sensor, electronic speed control, motor propellers, communication module, main control module, complete APM UAV hardware platform.(2) Analysis the quad-rotor UAV control structure at APM hardware platform, build four-rotor UAV motion equations, use PID control algorithm ensures stable UAV flight.(3) Develop a ground targets GPS device, consisting of a high-precision GPS receiver module and wireless communication modules, wireless communication module is responsible for communication with the sky UAV using Mavlink protocol, send the target GPS coordinates to the sky UAV.(4) Have stable in UAV flight and received a ground target GPS coordinates, design GPS-based navigation algorithm, so that UAV can fly toward to the target GPS coordinates.In the final results, first, the UAV can steady fly, after receiving the GPS coordinates of ground targets, can fly toward to the target smoothly, the sky UAV can automatic tracking ground moving target for shooting.