Vision-Based Tracking of a Ground-Moving Target with UAV

被引：11

作者：

Park, Sanghyuk ^{[1
]}

Jung, Dongwon ^{[2
]}

机构：

[1] Korea Aerosp Univ, Sch Aerosp & Mech Engn, 76 Hanggongdaehang Ro, Goyang Si 412791, Gyeonggi Do, South Korea

[2] Korea Aerosp Univ, Sch Elect & Informat Engn, 76 Hanggongdaehang Ro, Goyang Si 412791, Gyeonggi Do, South Korea

来源：

INTERNATIONAL JOURNAL OF AERONAUTICAL AND SPACE SCIENCES | 2019年 / 20卷 / 02期

基金：

新加坡国家研究基金会;

关键词：

Side-bearing guidance; Vision-based estimation; Moving target; Kalman filter; Flight test;

D O I：

10.1007/s42405-019-00142-z

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

This paper presents a vision-based estimation and guidance method to enable a UAV to fly a circular orbit around a moving target. The target motion is estimated using a Kalman filter design combining an onboard GPS and inertial sensors with a target-pointing vector obtained from a vision system. The aircraft is guided to orbit the moving target by a simple guidance law that deploys the relative side-bearing angle and the relative velocity with respect to the target. The proposed method is demonstrated using simulations and flight tests.

引用

页码：467 / 482

页数：16

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