当前，无人机的对地目标跟踪和逼近是军民领域的研究热点之一。针对基于无人机平台对地目标跟踪与逼近中的相对运动、导引控制等问题，选用大疆多旋翼飞行器平台，设计基于Android的地面站系统。该系统使用改进的核相关滤波视觉检测算法完成对地目标跟踪与位置锁定，利用无人机与目标的距离作为尺度因子，实现多尺度跟踪，融合FHOG+Lab+LBP特征表征目标以增加跟踪器的鲁棒性。采用比例导引律控制多旋翼飞行器，完成对地目标跟踪与逼近任务。实验表明，改进的算法相比原算法在成功率和精确度上均有提高，同时验证比例导引能够控制多旋翼无人机完成跟踪与逼近任务。
Currently, ground target tracking and approaching based on drone is one of the hot spots for research in the military and civilian sectors. Aiming at the problems of relative motion and guidance control in the tracking and approaching of ground targets based on UAV platform, DJI multi-rotor aircraft platform was selected to design a ground station system based on Android. The system uses an improved kernel correlation filtering visual detection algorithm to complete ground target tracking and position locking. It uses the distance between the drone and the target as a scale factor to achieve multiscale tracking, and integrates FHOG + Lab + LBP features to represent the target to increase the tracker.Robustness. Proportional guidance law is used to control the multi-rotor aircraft to complete the target tracking and approaching tasks. The experimental surface improved algorithm has improved success rate and accuracy compared with the original algorithm. At the same time, the use of proportional guidance can control the multi-rotor drone to complete the tracking and approaching tasks.
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