Vision-Based Geolocation Tracking System for Uninhabited Aerial Vehicles

摘要

The design and implementation of a vision-based geolocation tracking system for uninhabited aerial vehicles isndescribed.The geolocation tracking systemfor the uninhabited aerial vehicles includes avionics, a gimballing cameranwith feedback isolation and command loops, and a ground station. The point of interest is locked in the camera imagenby maintaining the center of the image frame to frame. An architecture for a geolocation tracking estimator isndeveloped and demonstrated. The estimator has the unique characteristics of beingmodular so that it can work withndifferent camera systems and different avionics components, compensate for random and bias uncertainties, run innreal time, and deliver a consistent estimate of the location and uncertainty of the object being tracked. Flight resultsnusing the SeaScan uninhabited aerial vehicles show consistent results for two- and three-dimensional tracking ofnstationary and moving targets.