Identificating And Tracking Moving Target Of Maritime Searching UAV

UAV detecting and tracking ground or sea targets, especially for moving target has become animportant means of modern military and civilian reconnaissance, this thesis researches UAV-relatedtechnologies of identification and tracking of sea moving target and solve target identification andtracking, control of stability platform, the key technical issues in applications of UAV guidancecontrol law for sea mobile targets applications. UAV identification and tracking sea moving targetmeans the camera carried by the UAV detects image information of a moving target and accesses tothe target’s location information by image processing. Stable platform onboard automatically adjustsazimuth and elevation of the camera, so the sea targets tracked remain at the center of the camera’sfield of view.the off-axis angle of stable platform is used to UAV guidance and control for a movingtarget and realizes UAV and reconnaissance pods for keeping tracking of the sea moving targets.In this paper, UAV sea target tracking system has been studied carefully.The study is mainlyconsisted of three contents. The first part is about the technology of image processing. the imagesacquired by the video camera are preprocessed and separated and their features are extracted based onHu invariant moments. The method of minimum distance classification is used to distinguish thetargets. The template matching target is updated through tracking with the adaptive control system. Amethod which uses image and navigation information fusion to get precise positioning is proposedand to calculate the adjusted angle required by the stable platform. The second part is about thecontrol of stable tracking platform. The principle of stable platform is studied and reviewed carefully.Taking the friction into consideration, a method based on Backstepping is proposed. A PID SlidingMode Controller is designed and then conduct a digital simulation.The third part is about the controlof UAV target tracking guidance. Firstly, the relative motion of the UAV and the target is analyzedthrough working up the kinematic model of UAV, and used to give out the mathematical modeling forthe changes of the relative distance. Then, a standoff tracking control law based on RPG is designedand its performance is analyzed. Finally, the simulation of the guidance law proposed in this paper isconducted. The simulation shows that this guidance law can successfully track the targets.