基于四旋翼飞行器的地面目标跟踪系统设计  

Design of Ground Target Tracking System Based on Quadrotors

作　　者：宋兴可 杨思恩 唐钊 千承辉[1] Song Xingke;Yang Sien;Tang Zhao;Qian Chenghui(College of Instrument and Electrical Engineering,Jilin University,Changchun 130012,China)

机构地区：[1]吉林大学仪器科学与电气工程学院,长春130012

出　　处：《单片机与嵌入式系统应用》2018年第10期78-82,共5页Microcontrollers & Embedded Systems

基　　金：国家大学生创新实验计划基金资助项目(2017A65283)

摘　　要：针对当下无人机跟踪系统受周围环境影响较大、跟踪精度低等缺陷,设计了一种自动识别并跟踪地面目标的四旋翼飞行器。对四旋翼飞行器飞行原理分析,得到飞行器动力学模型,利用计算机视觉技术获取地面移动目标的位置参数,调整飞行器姿态,实现四旋翼飞行器自动起飞、识别并跟踪地面目标。经测试,飞行器起飞时高度轴超调量低于8%,跟踪过程中横滚轴误差小于13cm,俯仰轴误差小于10cm,达到稳定跟踪地面目标的要求。Aiming at the defects that the current UAV tracking system is affected by the surrounding environment and the tracking accuracy is low,a quadrotor aircraft that can automatically identify and track ground targets is designed.Firstly,the flight principle of the quadrotor is analyzed to obtain the aircraft dynamics model.Then the computer vision technology is used to obtain the position parameters of the ground moving target,and the attitude of the aircraft is adjusted.Finally,the quadrotor aircraft will automatically take off,identify and track the ground target.The experiment results show that when the aircraft takes off, the height axis overshoot is less than 8%.In the process of tracking,the roll axis error is less than 13 cm, and the pitch axis error is less than 10 cm,so as to achieve the requirement of stable tracking of ground targets.

关 键 词：四旋翼飞行器 计算机视觉 PID控制器 电池电压补偿 

分 类 号：TP368.1[自动化与计算机技术—计算机系统结构]