基于无人机的行人移动轨迹跟踪方法研究

Research on Pedestrian Tracking Method Based on UAV

由于现有行人估计移动轨迹跟踪方法难以对行人坐标位置进行准确定位,导致轨迹跟踪结果误差较大,因此提出基于无人机的行人移动轨迹跟踪方法。建立小型无人机模型,针对小型无人机搭载的陀螺仪以及地磁极等传感器存在的定性误差,结合迭代学习控制算法建立无人机姿态和高度控制器,精准定位行人移动轨迹,通过控制器完成行人移动轨迹跟踪。仿真实验结果表明,所提方法能够精准检测行人数量,同时还能够有效提升行人移动轨迹跟踪结果可信度和无人机控制率。

Because the existing pedestrian trajectory estimation tracking methods are difficult to accurately locate the pedestrian coordinate position,resulting in a large error in the trajectory tracking results,a pedestrian trajectory tracking method based on UAV is proposed.The small UAV model is established.Aiming at the qualitative error of gyroscope and geomagnetic pole sensors carried by the small UAV,combined with iterative learning control algorithm,the UAV attitude and height controller is established to accurately locate the pedestrian movement trajectory,and the pedestrian movement trajectory tracking is completed through the controller.Simulation results show that the proposed method can accurately detect the number of pedestrians,and effectively improve the credibility of pedestrian tracking results and UAV control rate.