基于无人机的目标识别和追踪系统设计

Design of Target Recognition and Tracking System Based on UAV

基于无人机的目标识别和追踪近年来备受关注,其在军事和民用等领域应用前景广泛。为此,本文以开源四轴飞控系统作为原型,利用陀螺仪、加速度计互补滤波方式进行姿态运算,由OpenMV摄像头作为视觉模块,计算出目标与无人机之间的位置偏差值,通过串口通信返回反馈值到飞控端,飞控端通过串级PID算法输出值控制四个电机,最终实现无人机的对地面目标的识别和追踪,飞行测试结果表明,该系统通过上位机完成起飞、定高悬停状态,并稳定地对指定目标进行识别和追踪。

Target recognition and tracking based on UAV has attracted much attention in recent years,and it has a wide application prospect in military and civil fields.Therefore,this paper took the open source four axis flight control system as the prototype,used the gyroscope and accelerometer complementary filtering method for attitude calculation,used the openmv camera as the vision module,calculated the position deviation value between the target and the UAV,returned the feedback value to the flight control terminal through serial port communication,and the flight controlled terminal controls four motors through the output value of cascade PID algorithm,Finally,the UAV could recognize and track the ground target.The flight test results showed that the system completes the take-off,fixed altitude hovering state through the host computer,and stably identified and tracked the specified target.