Automatic Tracking Drone Based On OpenCV

Quadcopter with simple structure and miniature has been widely applied in modern military and civil fields.As a miniature;unmanned aerial vehicle,the quadcopter is a vehicle with high technology content which is generated by many advanced technology achievements.This paper’s main purposes are the two aspects of the correlation studies on the quadcopter’s attitude solution algorithm and Automatic tracking function.The traditional complementary filter algorithm which realizes the data fusion of multi sensors and compensates the integration error of the gyroscope has the advantage of making calculation easier.But it also has some defects,such as large data fluctuation and calculating error.In this paper,the differentiation element is introduced to solve the problem of data fluctuation.By proposing an improved algorithm with PID controller to weaken data fluctuation.The experimental results showed that the algorithm in this paper has the advantage of less computation and small data fluctuation.It can achieve stable state very quickly and track quadcopter effectively.The study on quadcopter’s automatic tracking function is a trial for intelligent quadcopter,In this paper,Android system and OpenCV database make up the image processing platform to realize image processing automatic tracking function.This paper study pre processing image by making image binaryzation and dilating image.After,extracting edge images with high quality and less interference by Canny algorithm.Using Hof linear detective algorithm to extract the road border.Then,studying the algorithm that how to fit intermediate line by keeping four sidelines.The influence of parameters of each algorithm on the fitting result of intermediate sideline is analyzed through many experiments.For obtaining the ideal treatment effect,it is necessary to determine the appropriate parameters by lots of experiment.