Research On Moving Target Tracking Control Of Quadrotor Aircraft

The quadrotor has the advantages of simple structure,flexible control,and vertical take-off and landing.The quadrotor equipped with vision sensors can effectively solve the problem of target detection and tracking when the camera is fixed or can only move in a small range.It is an ideal platform for vision-based tasks such as reconnaissance,aerial surveillance,and security.Therefore,the research on moving target tracking technology of quadrotor has important significance and broad application prospect.The main research contents of this thesis are as follows: 1.Designed the overall plan of quadrotor tracking moving target and built a quadrotor equipped with vision sensor.Through the analysis of the flight principle,movement mode and structure of the quadrotor,the dynamic model of the quadrotor was deduced and simulated.2.Established HOG-SVM and KCF target detection and tracking framework.Combine the HOG-SVM target detection algorithm with the KCF target tracking algorithm,and use the KCF tracking algorithm to track the target.In this process,use the HOG-SVM target detection result to correct the position of the tracking frame to make the target tracking accuracy and real-time performance was guaranteed.According to the obtained position information of the moving target in the pixel coordinate system combined with the motion state information of the quadrotor,the target visual positioning method is used to calculate the position of the moving target relative to the quadrotor.3.The actual control problems of quadrotor are studied.First,according to the underactuated nonlinearity of the quadrotor and the coupling between the attitude angles,an attitude controller with proportional control for the angle loop and active disturbance rejection control for the angular velocity loop is designed.Secondly,based on the stable control of attitude,a cascade PID controller is designed to control the position of the quadrotor according to the motion state information of the quadrotor.Finally,using the position information of the moving target relative to the quadrotor obtained by the target visual positioning method,a PID based target tracking controller is designed to realize the tracking control of the moving target.4.In order to verify the performance of each part of the quadrotor moving target tracking control system designed in this paper,simulations and actual flight experiments were carried out,which showed that the designed quadrotor moving target tracking control system can realize real-time tracking of moving targets.