Design And Development Of Ground Station For UAV/UGV Heterogeneous System

Unmanned Aerial Vehicle(UAV)/Unmanned Ground Vehicle(UGV)heterogeneous system combines the advantages of UAV and UGV,making it more widely used in many fields.However,there is few ground station software suitable for UAV/UGV heterogeneous system,which undoubtedly affects the ability of heterogeneous system to perform tasks.Therefore,a design idea and development process of ground station for UAV/UGV heterogeneous system is proposed in this paper.The detailed works have been summarized as follows:First,the structure and function of ground station for UAV/UGV heterogeneous system are analyzed and designed,and the ground station is divided into data communication module,data display module,video display and target tracking module,map display and path planning module.Secondly,according to the large data processing capacity of the data communication module,a multi-threaded communication method based on the serial port is designed to achieve the sending and receiving of data,which can improve the operating speed of system.A variety of visual data display methods are designed in the data display module,such as virtual instruments and dynamic curves.In view of the characteristics of heterogeneous system and the execution conditions of algorithm,the method of C++and Python mixed programming is used to integrate the target tracking function and the video display function.An improved Efficient Convolution Operators(ECO)target tracking algorithm is proposed,which makes it possible for UAV and UGV to track the same target simultaneously.The map display and path planning module uses JavaScript language to communicate map with backend,and to achieve map embedding and positioning display.In the path planning part,an improved ant colony algorithm based on initial population is proposed.The simulation results show that the algorithm can effectively improve search rate.Finally,four modules were tested separately,and the ground station software was applied to the collaborative tracking task for UAV/UGV heterogeneous system.The test results show that the ground station in this paper has rich functions.Meanwhile,the effectiveness of the improved algorithm is verified and meets the requirements of UAV/UGV heterogeneous system for collaborative tracking.