Reasearch And Design For Quadrotor Helicopter Tracking Ground Target Sytem

Quad-rotor helicopter is a kind of unmanned aerial vehicle with the ability of VTOL、 fixed-point hovering and excellent performance, which has great practical values and broad application prospects in the field of military, industry and civil. This paper uses a Quad-rotor helicopter as research object, then design the target tracking algorithm in image sequences and ground control station, and the tracking control algorithm has been designed as well.At first, according to the particular requirements of tracking ground target based on quad-rotor helicopter, demand analysis has been carried on for airframe, target tracking algorithm and controller design. Then, the design of the airframe and airborne hardware system has been done to realize the target tracking platform based on quad-rotor helicopter.Secondly, the system of quad-rotor helicopter tracking ground target has been analyzed, and the models of quad-rotor helicopter, ground target and airborne camera have been established, which lays the foundation for controller design and computation of relative distance between ground target and quad-rotor helicopter.Thirdly, in view of the image sequences which contain the target movement with surrounding environment movement captured by airborne camera, the tracking algorithm based on bi-directional optical flow with corners combined with kalman filter has been designed. The results show that the designed tracking algorithm has good performance on test datasets.Then, the tracking controller of quad-rotor helicopter has been designed based on Backstepping and PID algorithm, and the relative distance between ground target and quad-rotor helicopter has been computed based on coordinate transformation as the reference input of controller. The simulation results show that the designed tracking controller has good performance.Finally, the ground control station has been designed based on MFC and OpenCV library, mainly including the design of its interface, serial port communication module, data display and storage module and video module.