TRAJECTORY TRACKING METHOD AND UNMANNED AERIAL VEHICLE

摘要

A trajectory tracking method (S500) and an unmanned aerial vehicle (100). The unmanned aerial vehicle (100) comprises an unmanned aerial vehicle body (10) and a gimbal (20), wherein the gimbal (20) is installed on the unmanned aerial vehicle body (10), and the unmanned aerial vehicle body (10) is provided with at least one visual sensor. The trajectory tracking method (S500) comprises: acquiring a flight image collected by the at least one visual sensor, the flight image comprising a target to be tracked (S51); performing visual image processing on the flight image to generate a gimbal rotation instruction and a path instruction (S52); according to the gimbal rotation instruction and a gimbal state parameter of the gimbal, adjusting the angle of the gimbal to lock the target to be tracked (S53); and according to the path instruction and a flight state parameter of the unmanned aerial vehicle, controlling the motor rotating speed of a flight motor of the unmanned aerial vehicle, so as to enable the unmanned aerial vehicle to track the target to be tracked according to the path instruction (S54). The method can improve the tracking performance of the unmanned aerial vehicle.