Research On UAV Target Autonomous Tracking System

UAV target tracking systems are widely used in many fields.This thesis designs a UAV target autonomous tracking flight system,including designing of autonomous flight control law,UAV target tracking system platform,UAV target tracking algorithm,etc.,to realize the autonomous flight and target real-time tracking of the UAV.The specific content of this thesis is as follows:(1)It completed the overall scheme design of the autonomous target tracking system.According to the main functional requirements of the target tracking and flight control system,the overall composition of the UAV target autonomous tracking system is introduced,and the working principle of the system is explained.(2)By studying the composition and principle of the UAV,the mathematical model of the UAV is carried out by force analysing,and the attitude and position control law of the quadrotor drone are designed based on the classical PID algorithm.The simulation proves the control law.It can basically realize the posture control of the UVA during the work.(3)It completed the construction of the UVA target tracking system platform.Firstly,the hardware design of the UAV flight control system is carried out,including the design of the main control module,the sensing module and the execution module.Secondly,the hardware selection and communication module design of the target tracking system are carried out.Finally,the flight control system software development is completed,including programming design of flight control initialization and fixed altitude flight,it is the platform basis for the UAV to track the flight toward the desired target.(4)The design of the autonomous tracking algorithm for the UVA is completed.Through the theoretical research of target location tracking algorithm,it combined with the ideal Kalman Filter algorithm to establish the tracking process and framework based on the target loeation function of OpenCV library,to achieve the positioning and tracking of the dynamic target by the UVA.The UAV fixed-gauge attitude test and dynamic target tracking experiments were carried out on the experimental platform of the UAV target tracking system.The flight control system,pose control law and target tracking algorithm in this thesis were verified.The experimental results show that the UAV target autonomous tracking system can basically realize real-time tracking of dynamic targets.