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WO2021098453A1 - Procédé de suivi de cible et véhicule aérien sans pilote - Google Patents

Procédé de suivi de cible et véhicule aérien sans pilote Download PDF

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Publication number
WO2021098453A1
WO2021098453A1 PCT/CN2020/124049 CN2020124049W WO2021098453A1 WO 2021098453 A1 WO2021098453 A1 WO 2021098453A1 CN 2020124049 W CN2020124049 W CN 2020124049W WO 2021098453 A1 WO2021098453 A1 WO 2021098453A1
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WIPO (PCT)
Prior art keywords
target
real
latitude
time
instantaneous
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Ceased
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PCT/CN2020/124049
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English (en)
Chinese (zh)
Inventor
顾武军
陈刚
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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Publication date
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Publication of WO2021098453A1 publication Critical patent/WO2021098453A1/fr
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the invention relates to the technical field of unmanned aerial vehicles, in particular to a target tracking method and unmanned aerial vehicles.
  • Unmanned aerial vehicles With the continuous development of unmanned aerial vehicle aerial photography technology, more and more consumer-grade unmanned aerial vehicles are also being produced and developed. Unmanned aerial vehicles are gradually becoming more and more popular. There are many ways to control unmanned aerial vehicles, such as remote control, mobile phone, computer and other mobile terminals.
  • An important application scenario of unmanned aerial vehicles is the tracking of targets by airborne gimbals.
  • Most of the current methods used are target tracking technology based on computer vision, especially in the past two years, the target tracking method using deep learning has achieved satisfactory results. As a result, the target tracking technology has achieved breakthrough progress.
  • the visual target tracking technology faces some of the following challenges: occlusion, deformation, background speckles, scale deformation, illumination, low resolution, motion blur, fast motion, beyond the field of view, rotation, etc., all these challenging factors together determine the vision-based Target tracking is an extremely complex task. When encountering the above-mentioned challenging factors, the target cannot be tracked effectively in time.
  • the embodiments of the present invention provide a simple and effective target tracking method and unmanned aerial vehicle that do not rely on vision.
  • a target tracking method applied to an unmanned aerial vehicle the unmanned aerial vehicle is provided with a pan/tilt, and the method includes: obtaining instantaneous information of the unmanned aerial vehicle Navigation data and the instantaneous target attitude angle of the pan-tilt;
  • the target is tracked.
  • the instantaneous target attitude angle includes an instantaneous heading angle and an instantaneous pitch angle
  • the instantaneous navigation data includes instantaneous latitude and longitude information and an instantaneous relative altitude
  • the obtaining target latitude and longitude information according to the instant navigation data and the instant target attitude angle includes:
  • the instantaneous heading angle the instantaneous pitch angle, the instantaneous latitude and longitude information, and the instantaneous relative altitude, the target longitude and latitude information is obtained.
  • the instantaneous latitude and longitude information includes instantaneous longitude and instantaneous latitude
  • the target longitude and latitude information includes target longitude and target latitude
  • the target longitude and target latitude are calculated by the following formulas:
  • ⁇ ' is the instantaneous heading angle
  • ⁇ ' is the instantaneous pitch angle
  • x'plane is the instantaneous longitude
  • y'plane is the instantaneous latitude
  • x target is the target longitude
  • y target is the instantaneous latitude.
  • R ground is the radius of the earth
  • R latitude is the radius of the cross section of the earth at the latitude of the unmanned aerial vehicle
  • H' is the instant relative altitude.
  • the tracking the target according to the target latitude and longitude information includes:
  • the target is tracked.
  • the real-time navigation data includes real-time latitude and longitude information and real-time relative altitude;
  • the obtaining the real-time attitude angle of the PTZ based on the real-time navigation data and the target longitude and latitude information includes:
  • the real-time attitude angle is obtained.
  • the real-time attitude angle includes a real-time heading angle and a real-time pitch angle
  • the real-time latitude and longitude information includes real-time longitude and real-time latitude
  • the real-time attitude angle is obtained by the following formula:
  • ⁇ is the real-time heading angle
  • ⁇ is the real-time pitch angle
  • x plane is the real-time longitude
  • y plane is the real-time latitude
  • x target is the target longitude
  • y target is the target latitude
  • R ground is the radius of the earth
  • R latitude is the cross-sectional radius of the earth at the latitude of the unmanned aerial vehicle
  • H is the real-time relative altitude.
  • the embodiments of the present invention also provide the following technical solutions: a target tracking device.
  • the target tracking device includes: an instantaneous data acquisition module for acquiring instantaneous navigation data of the UAV and instantaneous target attitude angle of the pan/tilt;
  • the target latitude and longitude information acquisition module is configured to obtain target latitude and longitude information according to the instant navigation data and the instant target attitude angle;
  • the target tracking module is used to track the target according to the latitude and longitude information of the target.
  • the target tracking module includes a real-time navigation data acquisition unit, a real-time attitude angle calculation unit, and a target tracking unit;
  • the real-time navigation data acquisition unit is used to acquire real-time navigation data of the unmanned aerial vehicle
  • the real-time attitude angle calculation unit is configured to obtain the real-time attitude angle of the pan/tilt according to the real-time navigation data and the target latitude and longitude information;
  • the target tracking unit is used to track the target according to the real-time attitude angle.
  • the real-time navigation data includes real-time latitude and longitude information and real-time relative altitude;
  • the real-time attitude angle calculation unit is specifically configured to obtain the real-time attitude angle according to the real-time latitude and longitude information, the target latitude and longitude information, and the real-time relative height.
  • an unmanned aerial vehicle includes:
  • An arm connected to the fuselage
  • the power device is arranged on the arm and is used to provide power for the unmanned aerial vehicle to fly;
  • the group can be used to perform the target tracking method as described above.
  • the target tracking method provided by the embodiment of the present invention may first obtain the instantaneous navigation data of the UAV and the instantaneous target attitude angle of the pan/tilt, and then according to the instantaneous navigation data and the instantaneous target attitude angle.
  • the instantaneous target attitude angle obtains target latitude and longitude information, and then tracks the target according to the target latitude and longitude information, and finally realizes the simple and effective tracking of the target based on the vision-independent target tracking technology.
  • FIG. 1 is a schematic diagram of an application environment of an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a target tracking method provided by one embodiment of the present invention.
  • Fig. 3 is a schematic diagram of the flow of S30 in Fig. 2;
  • Fig. 4 is a structural block diagram of a target tracking device provided in one of the embodiments of the present invention.
  • Fig. 5 is a structural block diagram of an unmanned aerial vehicle provided by one embodiment of the present invention.
  • the embodiment of the present invention provides a target tracking method and an unmanned aerial vehicle.
  • the target tracking method applied to the unmanned aerial vehicle first obtains the instantaneous navigation data of the unmanned aerial vehicle and the instantaneous target attitude angle of the pan/tilt. Then, according to the instantaneous navigation data and the instantaneous target attitude angle, the target latitude and longitude information is obtained, and then the target is tracked according to the target latitude and longitude information. Finally, the target tracking technology is not dependent on vision. Simple and effective tracking of the target.
  • the following examples illustrate the application environment of the target tracking method.
  • Fig. 1 is a schematic diagram of the application environment of the aircraft-free control method provided by an embodiment of the present invention; as shown in Fig. 1, the application scenario includes an unmanned aerial vehicle 10, an infrared wireless network 20, a remote control device 30, a user 40, and a target 50.
  • the user 40 can use the remote control device 30 to control the unmanned aerial vehicle 10 through the infrared wireless network, and the unmanned aerial vehicle 10 can track the target 50.
  • the unmanned aerial vehicle 10 may be an unmanned aerial vehicle driven by any type of power, including but not limited to a rotary-wing unmanned aerial vehicle, a fixed-wing unmanned aerial vehicle, an umbrella-wing unmanned aerial vehicle, a flapping-wing unmanned aerial vehicle, and a helicopter model.
  • the unmanned aerial vehicle 10 may have a corresponding volume or power according to actual needs, so as to provide load capacity, flight speed, and flight range that can meet the needs of use.
  • One or more functional modules may be added to the unmanned aerial vehicle 10 to enable the unmanned aerial vehicle 10 to realize corresponding functions.
  • the unmanned aerial vehicle 10 is provided with a battery module, a positioning device, an infrared emitting device, a pan/tilt and an aerial camera, and the aerial camera is mounted on the unmanned aerial vehicle 10 through the pan/tilt for taking pictures and videos. Wait for work.
  • the pan-tilt is used to realize the fixation of the aerial camera, or to adjust the attitude of the aerial camera at will (for example, to change the shooting direction of the aerial camera) and to keep the aerial camera stably in a set attitude.
  • the pan/tilt head 20 includes a base, a motor, and a motor controller.
  • the base is fixedly connected or detachably connected to the unmanned aerial vehicle, and is used to mount the aerial camera on the unmanned aerial vehicle; the motor is installed on the base and connected with the aerial camera,
  • the motor controller is electrically connected with the motor for controlling the motor.
  • the pan/tilt can be a multi-axis pan/tilt. To adapt to it, there are multiple motors, that is, one motor is provided for each axis.
  • multiple motors can drive the aerial camera to rotate, so as to meet the adjustment of different shooting directions of the aerial camera.
  • the motor rotation or using the program to make the motor rotate automatically so as to achieve the role of omnidirectional scanning and monitoring;
  • the rotation of the motor cancels the disturbance of the aerial camera in real time, prevents the aerial camera from shaking, and ensures the stability of the shooting picture.
  • the aerial camera includes a camera housing and a camera connected to the camera housing.
  • a pan/tilt connector is provided on the camera housing for connecting with the pan/tilt.
  • a depth camera is also installed on the camera housing, and the depth camera is connected to the main body.
  • the camera is mounted on the same surface of the camera housing.
  • the depth camera can be installed horizontally, vertically or diagonally on its mounting surface.
  • the battery module After the battery module is connected to the UAV 10, the battery module can provide power for the UAV 10.
  • the positioning device may be a GPS positioning system, and the GPS positioning system is used to obtain real-time geographic location information of the unmanned aerial vehicle.
  • the infrared emission device is used to send infrared access information and receive infrared control instructions issued by the remote control device. For example, when the remote control device issues an infrared control instruction, the infrared emission device receives the infrared control instruction, and then makes The unmanned aerial vehicle 10 controls the activation state of the unmanned aerial vehicle 10 according to the infrared control command. After the battery module is connected to the UAV 10, the infrared emitting device can send the infrared access information obtained from the access information of the battery module to the remote control device 30.
  • the unmanned aerial vehicle 10 includes at least one flight control module, which serves as the control core for the flight and data transmission of the unmanned aerial vehicle 10, and has the ability to monitor, calculate, and manipulate the flight and mission of the unmanned aerial vehicle.
  • the flight control module can also modulate the binary digital signal into an infrared signal in the form of a corresponding light pulse or demodulate the infrared signal in the form of an optical pulse into a binary digital signal.
  • the remote control device 30 can be any type of smart device used to establish a communication connection with the UAV 10, such as a mobile phone, a tablet computer, a notebook computer, or other mobile control terminals.
  • the remote control device 30 is equipped with an infrared receiving device for receiving infrared access information and sending infrared control instructions for controlling the unmanned aerial vehicle.
  • the remote control device 30 may be used to receive infrared access information generated by the UAV 10 when the battery module is normally connected to the UAV.
  • the remote control device 30 can also send an infrared control command generated according to the control command of the user 40 to the unmanned aerial vehicle 10 to control the activation state of the unmanned aerial vehicle 10.
  • the remote control device 30 can also be equipped with an image transmission module for controlling positioning images, pan-tilt shooting images, and aiming images return.
  • the image transmission module can also modulate a binary digital signal into an infrared signal in the form of a corresponding optical pulse or demodulate the infrared signal in the form of an optical pulse into a binary digital signal.
  • the remote control device 30 may also be equipped with one or more different user 40 interaction devices to collect instructions from the user 40 or display and feedback information to the user 40.
  • buttons, display screens, touch screens, speakers, and remote control joysticks are examples of interactive devices.
  • the remote control device 30 may be equipped with a touch screen, through which the user 40 receives remote control instructions for the UAV 10.
  • the unmanned aerial vehicle 10 and the remote control device 30 can also be integrated with the existing image visual processing technology to further provide more intelligent services.
  • the unmanned aerial vehicle 10 may use a dual-lens camera to collect images, and the remote control device 30 may analyze the images, so as to realize the gesture control of the unmanned aerial vehicle 10 by the user 40.
  • Fig. 2 is an embodiment of a target tracking method provided by an embodiment of the present invention. This method can be performed by the unmanned aerial vehicle in FIG. 1. Specifically, referring to Figure 2, the method may include but is not limited to the following steps:
  • the instant target attitude angle includes an instant heading angle and an instant pitch angle
  • the instant navigation data includes instant latitude and longitude information and an instant relative altitude.
  • the instantaneous relative altitude refers to the vertical distance between the pan/tilt of the unmanned aerial vehicle and the target at the current moment.
  • the pan/tilt mounted on the unmanned aerial vehicle in flight needs to know the instantaneous pitch angle and the instantaneous heading angle of the target relative to the pan/tilt in real time.
  • the pan/tilt angle is automatically adjusted to place the clicked target in the center of the screen, and the instantaneous pitch angle and instantaneous heading angle are obtained by geometric calculation of the image and the camera focal length.
  • S20 Obtain target longitude and latitude information according to the instant navigation data and the instant target attitude angle.
  • the target latitude and longitude information is obtained according to the obtained instantaneous heading angle, the instantaneous pitch angle, the instantaneous latitude and longitude information, and the instantaneous relative altitude.
  • the real-time navigation data includes real-time latitude and longitude information and real-time relative altitude.
  • the real-time relative altitude refers to the vertical distance between the pan/tilt of the unmanned aerial vehicle and the target at the current moment.
  • the obtaining the real-time attitude angle of the PTZ based on the real-time navigation data and the target longitude and latitude information includes: obtaining according to the real-time latitude and longitude information, the target longitude and latitude information, and the real-time relative altitude The real-time attitude angle; tracking the target according to the real-time attitude angle.
  • the embodiment of the present invention provides a target tracking method.
  • the method first obtains the instantaneous navigation data of the UAV and the instantaneous target attitude angle of the PTZ, and then according to the instantaneous navigation data and the instantaneous target Attitude angle, the target latitude and longitude information is obtained, and then the target is tracked according to the target latitude and longitude information, and finally the target can be tracked simply and effectively based on the vision-independent target tracking technology.
  • S20 includes the following steps:
  • the instantaneous heading angle the instantaneous pitch angle, the instantaneous latitude and longitude information, and the instantaneous relative altitude, the target longitude and latitude information is obtained.
  • the instant longitude and latitude information includes instant longitude and instant latitude
  • the target longitude and latitude information includes target longitude and target latitude
  • the target longitude and target latitude are calculated by the following formulas:
  • ⁇ ' is the instantaneous heading angle
  • ⁇ ' is the instantaneous pitch angle
  • x'plane is the instantaneous longitude
  • y'plane is the instantaneous latitude
  • x target is the target longitude
  • y target is the instantaneous latitude.
  • R ground is the radius of the earth
  • R latitude is the radius of the cross section of the earth at the latitude of the unmanned aerial vehicle
  • H' is the instant relative altitude.
  • S30 includes the following steps:
  • S31 Acquire real-time navigation data of the unmanned aerial vehicle.
  • the existing satellite navigation device of the unmanned aerial vehicle is combined with the existing inertial navigation equipment on board to generate the real-time navigation data.
  • the real-time navigation data includes real-time latitude and longitude information and real-time relative altitude.
  • the real-time attitude angle is obtained according to the real-time latitude and longitude information, the target latitude and longitude information, and the real-time relative height.
  • the real-time attitude angle includes real-time heading angle and real-time pitch angle
  • the real-time latitude and longitude information includes real-time longitude and real-time latitude
  • ⁇ is the real-time heading angle
  • ⁇ is the real-time pitch angle
  • x plane is the real-time longitude
  • y plane is the real-time latitude
  • x target is the target longitude
  • y target is the target latitude
  • R ground is the radius of the earth
  • R latitude is the cross-sectional radius of the earth at the latitude of the unmanned aerial vehicle
  • H is the real-time relative altitude.
  • the embodiments of the present application provide a target tracking device 60, which is applied to an unmanned aerial vehicle.
  • the target tracking device 60 includes: an instantaneous data acquisition module 61, a target latitude and longitude information acquisition module 62, and a target tracking module 63.
  • the instantaneous data acquisition module 61 is used to acquire instantaneous navigation data of the UAV and the instantaneous target attitude angle of the pan/tilt.
  • the target longitude and latitude information acquisition module 62 is configured to obtain target longitude and latitude information according to the instant navigation data and the instant target attitude angle.
  • the target tracking module 63 is configured to track the target according to the longitude and latitude information of the target.
  • the target is tracked according to the longitude and latitude information of the target, and finally the target can be tracked simply and effectively on the basis of the target tracking technology that does not rely on vision.
  • the target longitude and latitude information acquisition module 62 is specifically configured to obtain the target longitude and latitude information according to the instantaneous heading angle, the instantaneous pitch angle, the instantaneous longitude and latitude information, and the instantaneous relative altitude.
  • the instantaneous target attitude angle includes an instantaneous heading angle and an instantaneous pitch angle;
  • the instantaneous navigation data includes instantaneous latitude and longitude information and instantaneous relative altitude;
  • the target longitude and latitude information acquisition module 62 is also specifically configured to use the instant latitude and longitude information including instant longitude and instant latitude; the target longitude and latitude information including target longitude and target latitude;
  • the target longitude and target latitude are calculated by the following formulas:
  • ⁇ ' is the instantaneous heading angle
  • ⁇ ' is the instantaneous pitch angle
  • x'plane is the instantaneous longitude
  • y'plane is the instantaneous latitude
  • x target is the target longitude
  • y target is the instantaneous latitude.
  • R ground is the radius of the earth
  • R latitude is the radius of the cross section of the earth at the latitude of the unmanned aerial vehicle
  • H' is the instant relative altitude.
  • the target tracking module includes a real-time navigation data acquisition unit, a real-time attitude angle calculation unit, and a target tracking unit;
  • the real-time navigation data acquisition unit is used to acquire real-time navigation data of the unmanned aerial vehicle
  • the real-time attitude angle calculation unit is used to obtain the real-time attitude angle of the pan/tilt based on the real-time navigation data and the target latitude and longitude information.
  • the target tracking unit is used to track the target according to the real-time attitude angle.
  • the real-time navigation data acquisition unit is specifically configured to obtain the real-time attitude angle according to the real-time latitude and longitude information, the target latitude and longitude information, and the real-time relative height.
  • the real-time navigation data includes real-time latitude and longitude information and real-time relative altitude.
  • the real-time navigation data acquisition unit is further specifically configured to obtain the real-time attitude angle through the following formula:
  • ⁇ is the real-time heading angle
  • ⁇ is the real-time pitch angle
  • x plane is the real-time longitude
  • y plane is the real-time latitude
  • x target is the target longitude
  • y target is the target latitude
  • R ground is the radius of the earth
  • R latitude is the cross-sectional radius of the earth at the latitude of the unmanned aerial vehicle
  • H is the real-time relative altitude.
  • the real-time attitude angle includes real-time heading angle and real-time pitch angle
  • the real-time latitude and longitude information includes real-time longitude and real-time latitude.
  • FIG. 5 is a schematic structural diagram of an unmanned aerial vehicle 10 provided by an embodiment of the present application.
  • the unmanned aerial vehicle 10 may be any type of unmanned vehicle and can execute the target tracking method provided by the corresponding method embodiment above, or, Run the target tracking device 60 provided by the above corresponding device embodiment.
  • the unmanned aerial vehicle includes: a fuselage, an arm, a power unit, an infrared transmitting device, a flight control module 110, a memory 120, and a communication module 130.
  • the arm is connected to the fuselage;
  • the power device is provided on the arm for providing flight power to the unmanned aerial vehicle;
  • the infrared emitting device is provided in the fuselage for Send infrared access information and receive infrared control instructions from the remote control device;
  • the flight control module has the ability to monitor, calculate and manipulate the flight and mission of the unmanned aerial vehicle, and includes a set of equipment for controlling the launch and recovery of the unmanned aerial vehicle.
  • the flight control module can also modulate the binary digital signal into an infrared signal in the form of a corresponding light pulse or demodulate the infrared signal in the form of an optical pulse into a binary digital signal.
  • the flight control module 110, the memory 120, and the communication module 130 establish a communication connection between any two through a bus.
  • the flight control module 110 can be of any type and has one or more processing cores. It can perform single-threaded or multi-threaded operations, and is used to parse instructions to perform operations such as obtaining data, performing logical operation functions, and issuing operation processing results.
  • the memory 120 can be used to store non-transitory software programs, non-transitory computer-executable programs and modules, such as program instructions/modules corresponding to the target tracking method in the embodiment of the present invention (For example, the instantaneous data acquisition module 61, the target latitude and longitude information acquisition module 62, and the target tracking module 63 shown in FIG. 4).
  • the flight control module 110 executes various functional applications and data processing of the target tracking device 60 by running non-transitory software programs, instructions, and modules stored in the memory 120, that is, realizing the target tracking method in any of the foregoing method embodiments .
  • the memory 120 may include a storage program area and a storage data area.
  • the storage program area may store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the target tracking device 60 and the like.
  • the memory 120 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices.
  • the storage 120 may optionally include storage remotely provided with respect to the flight control module 110, and these remote storages may be connected to the UAV 10 via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the memory 120 stores instructions that can be executed by the at least one flight control module 110; the at least one flight control module 110 is used to execute the instructions to implement the target tracking method in any of the foregoing method embodiments, for example Steps 10, 20, 30, etc. of the method described above are executed to realize the functions of the modules 61-63 in FIG. 4.
  • the communication module 130 is a functional module used to establish a communication connection and provide a physical channel.
  • the communication module 130 may be any type of wireless or wired communication module 130, including but not limited to a WiFi module or a Bluetooth module.
  • the embodiment of the present invention also provides a non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are controlled by one or more flight controllers.
  • the execution of the module 110 for example, executed by one of the flight control modules 110 in FIG. 5, can make the one or more flight control modules 110 execute the target tracking method in any of the above method embodiments, for example, execute the method described above Steps 10, 20, 30, and so on, realize the functions of the modules 61-63 in FIG. 4.
  • the device embodiments described above are merely illustrative.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • each implementation manner can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware.
  • a person of ordinary skill in the art can understand that all or part of the processes in the methods of the foregoing embodiments can be implemented by instructing relevant hardware by a computer program in a computer program product.
  • the computer program can be stored in a non-transitory computer.
  • the computer program includes program instructions, and when the program instructions are executed by a related device, the related device can execute the flow of the foregoing method embodiments.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.
  • the above-mentioned products can execute the target tracking method provided by the embodiment of the present invention, and have the corresponding functional modules and beneficial effects for executing the target tracking method.
  • the target tracking method provided in the embodiment of the present invention For technical details that are not described in detail in this embodiment, refer to the target tracking method provided in the embodiment of the present invention.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so that the computer or other programmable equipment is executed
  • the instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé de suivi de cible (50) et un véhicule aérien sans pilote (10) ; le procédé de suivi de cible (50) appliqué au véhicule aérien sans pilote (10) consiste à : tout d'abord, obtenir des données de navigation instantanées du véhicule aérien sans pilote (10) et l'angle d'attitude de cible (50) instantané d'un cardan (S10) ; ensuite, en fonction des données de navigation instantanée et de l'angle d'attitude de cible (50) instantané, obtenir des informations de latitude et de longitude de la cible (50) (S20) ; puis, selon les informations de latitude et de longitude de la cible (50), suivre la cible (50) (S30) ; finalement, sur la base d'une technologie de suivi de cible (50) qui ne repose pas sur la vision, la cible (50) est suivie simplement et efficacement.
PCT/CN2020/124049 2019-11-20 2020-10-27 Procédé de suivi de cible et véhicule aérien sans pilote Ceased WO2021098453A1 (fr)

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CN201911144128.4A CN110716579B (zh) 2019-11-20 2019-11-20 目标跟踪方法及无人飞行器

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CN110716579B (zh) * 2019-11-20 2022-07-29 深圳市道通智能航空技术股份有限公司 目标跟踪方法及无人飞行器
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