TOWARDS A UAV VISUAL AIR-TO-GROUND TARGET TRACKING IN AN URBAN ENVIRONMENT

摘要

This paper proposes a UAV navigation and guidancernsystem for air-to-ground target search andrntracking mission in an unknown urban environment.rnThe mission is divided into three operationrnphases: i) cartography, ii) target search, and iii)rntarget tracking. In particular, the paper focusesrnon development of the visual target tracking system.rnThe integrated vision/inertial navigation filterrnis designed to simultaneously localize the targetrnand the own-ship UAV in case of disruptionrnin GPS signals. The guidance law which achievesrntarget tracking and obstacle avoidance while enhancingrnthe navigation accuracy is proposed. Thernentire system is implemented onboard the ONERArnReSSAC UAV experimental platform andrnevaluated in its actual flights.