强跟踪滤波器在机载云台目标跟踪中的应用

摘要

针对小型无人机地面目标跟踪系统,设计了自适应的强跟踪滤波器(STF),实现了对机载云台姿态的控制,使机动目标保持在机载云台的视场中心.根据无人机、目标与视场中心的位置关系,建立了跟踪系统的数学模型.为解决“当前”统计模型跟踪强机动过程效果较差的问题,提出了强跟踪滤波器(STF)的自适应滤波算法.当无人机加速度较大时,加入强跟踪滤波器后的跟踪曲线较平滑,误差更小.最后,仿真结果表明,机载云台姿态控制器对机动目标的跟踪效果良好,被跟踪目标保持在机载云台的视场中心.%This paper presents a kind of strong tracking filter adaptive target tracking algorithm to the target tracking system in a small UAV,the attitude control of the on-board camera is realized, to maintain the image of maneuvering target being at the center of the viewing frame. The position relationship in the UAV, target and the center of the viewing frame are analyzed and math model is developed for the target tracking system. The STF is applied to the current statistical model of maneuvering target ,to improve the tracking performance. When the target maneuvers with a large acceleration,the tracking curve with the STF is smoother and smaller error. The simulation results show that the proposed adaptive on-board camera controller tracks the ground maneuvering target well and can maintain the target image at the center of the viewing frame.