四旋翼无人机地面目标跟踪系统的研究与设计

发布时间：2018-04-15 17:47

本文选题：四旋翼无人机 + 目标跟踪　；参考：《东南大学》2015年硕士论文

【摘要】：四旋翼无人机是一种可垂直起降、定点悬停、性能优良的无人飞行器,在军事、工业及民用领域均具有重大的实用价值和广阔的应用前景。本文以四旋翼无人机地面目标跟踪系统为研究对象,设计了图像序列的目标跟踪算法和地面跟踪控制站,并在此基础上设计了无人机跟踪控制算法。首先,针对四旋翼无人机跟踪地面目标的特殊要求,对机体设计、跟踪算法设计和控制器设计进行了需求分析。在此基础上,对机体和机载硬件系统分别进行了设计,实现了基于四旋翼无人机的跟踪平台。其次,对四旋翼无人机地面目标跟踪系统进行了分析和数学建模,主要包括四旋翼无人机的动力学模型、地面目标模型和机载相机模型的建立,为控制器的设计和计算无人机与地面目标间的相对距离奠定基础。再次,针对机载相机所捕获的含有目标及其周围环境的图像序列,采用基于角点的双向光流跟踪器和卡尔曼滤波跟踪器相结合的方式,设计了图像序列的目标跟踪算法,在测试集上的运行结果表明所设计的目标跟踪算法具有良好的性能。随后,基于反步法和比例-积分-微分控制设计了四旋翼无人机的跟踪控制器,并通过坐标变换得到无人机与目标之间的相对距离,以此作为所设计的跟踪控制器的参考输入。仿真结果表明,所设计的跟踪控制器性能良好。最后,基于MFC库和OpenCV库设计了地面跟踪控制站,主要包括地面跟踪控制站的界面设计、串口通信模块设计、数据显示及存储模块设计和视频模块设计。
[Abstract]:Four-rotor UAV is a kind of unmanned aerial vehicle which can take off and land vertically, hover at a fixed point and have excellent performance. It has great practical value and broad application prospect in military, industrial and civil fields.In this paper, the target tracking algorithm of image sequence and ground tracking control station are designed, and the UAV tracking control algorithm is designed based on the four rotor UAV ground target tracking system.Firstly, the requirements of airframe design, tracking algorithm design and controller design for four-rotor UAV tracking ground target are analyzed.On this basis, the airframe and the airborne hardware system are designed, and the tracking platform based on four-rotor UAV is realized.Secondly, the ground target tracking system of four-rotor UAV is analyzed and modeled, which includes the dynamic model, the ground target model and the airborne camera model of the four-rotor UAV.It lays a foundation for the design of controller and the calculation of the relative distance between UAV and ground target.Thirdly, aiming at the image sequence captured by airborne camera with target and its surrounding environment, the target tracking algorithm of image sequence is designed by combining the corner based bidirectional optical flow tracker and Kalman filter tracker.The running results on the test set show that the proposed target tracking algorithm has good performance.Then, a tracking controller for a four-rotor UAV is designed based on backstepping and proportional integral-differential control, and the relative distance between the UAV and the target is obtained by coordinate transformation, which is used as the reference input of the designed tracking controller.Simulation results show that the designed tracking controller has good performance.Finally, the ground tracking control station is designed based on MFC library and OpenCV library, including interface design of ground tracking control station, serial communication module, data display and storage module and video module design.
【学位授予单位】：东南大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP391.41;V279

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