Target tracking method for air vehicle
First Claim
1. A target tracking method for an air vehicle comprising steps of:
- during a flight process of an air vehicle main body to a position corresponding to a positioning signal of a global positioning system (GPS), taking a picture of an area where a reference target is located by a camera, and obtaining a reference image;
extracting reference image characteristics of the reference target and initial position information of the reference target in the reference image from the reference image by the air vehicle main body;
when the camera on the air vehicle main body obtains a temporary image showing a temporary target, extracting temporary image characteristics of the temporary target and temporary position information of the temporary target in the temporary image from the temporary image by the air vehicle main body;
if the reference image characteristics are consistent with the temporary image characteristics, calculating a deviation direction by the camera according to a difference between the initial position information and the temporary position information; and
tracking the temporary target by the air vehicle main body in the deviation direction;
the method further comprises steps of;
extracting first reference scale information and second reference scale information of the reference target from the reference image by the camera, wherein the first reference scale information is a width value of the reference target in the reference image; and
the second reference scale information is a height value of the reference target in the reference image;
when the camera judges that the reference image characteristics are consistent with the temporary image characteristics, extracting first temporary scale information and second temporary scale information of the temporary target from the temporary image by the camera, wherein the first temporary scale information is a width value of the temporary target in the temporary image; and
the second temporary scale information is a height value of the temporary target in the temporary image;
when a value of the first reference scale information is larger than a value of the first temporary scale information, calculating a difference between the first reference scale information and the first temporary scale information by the camera; and
, if an absolute value of the difference is larger than a preset threshold, accelerating a motion of the air vehicle main body;
when the value of the first reference scale information is smaller than the value of the first temporary scale information, calculating the difference between the first reference scale information and the first temporary scale information by the camera; and
, if the absolute value of the difference is larger than the preset threshold, decelerating the motion of the air vehicle main body;
when a value of the second reference scale information is larger than a value of the second temporary scale information, calculating a difference between the second reference scale information and the second temporary scale information by the camera; and
, if an absolute value of the difference is larger than the preset threshold, accelerating the motion of the air vehicle main body; and
when the value of the second reference scale information is smaller than the value of the second temporary scale information, calculating the difference between the second reference scale information and the second temporary scale information; and
, if the absolute value of the difference is larger than the preset threshold, decelerating the motion of the air vehicle main body.
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Abstract
A target tracking method for an air vehicle includes steps of: during a flight of an air vehicle main body to a position corresponding to a global positioning system (GPS) positioning signal, taking pictures of an area where a reference target is located by a camera, and obtaining a reference image; extracting reference image characteristics of the reference target and initial position information of the reference target in the reference image from the reference image; when the camera obtains a temporary image showing a temporary target, extracting temporary image characteristics of the temporary target and temporary position information of the temporary target in the temporary image from the temporary image; if the reference image characteristics are consistent with the temporary image characteristics, calculating a deviation direction according to a difference between the initial position information and the temporary position information; and tracking the temporary target in the deviation direction.
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Citations
9 Claims
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1. A target tracking method for an air vehicle comprising steps of:
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during a flight process of an air vehicle main body to a position corresponding to a positioning signal of a global positioning system (GPS), taking a picture of an area where a reference target is located by a camera, and obtaining a reference image; extracting reference image characteristics of the reference target and initial position information of the reference target in the reference image from the reference image by the air vehicle main body; when the camera on the air vehicle main body obtains a temporary image showing a temporary target, extracting temporary image characteristics of the temporary target and temporary position information of the temporary target in the temporary image from the temporary image by the air vehicle main body; if the reference image characteristics are consistent with the temporary image characteristics, calculating a deviation direction by the camera according to a difference between the initial position information and the temporary position information; and tracking the temporary target by the air vehicle main body in the deviation direction; the method further comprises steps of; extracting first reference scale information and second reference scale information of the reference target from the reference image by the camera, wherein the first reference scale information is a width value of the reference target in the reference image; and
the second reference scale information is a height value of the reference target in the reference image;when the camera judges that the reference image characteristics are consistent with the temporary image characteristics, extracting first temporary scale information and second temporary scale information of the temporary target from the temporary image by the camera, wherein the first temporary scale information is a width value of the temporary target in the temporary image; and
the second temporary scale information is a height value of the temporary target in the temporary image;when a value of the first reference scale information is larger than a value of the first temporary scale information, calculating a difference between the first reference scale information and the first temporary scale information by the camera; and
, if an absolute value of the difference is larger than a preset threshold, accelerating a motion of the air vehicle main body;when the value of the first reference scale information is smaller than the value of the first temporary scale information, calculating the difference between the first reference scale information and the first temporary scale information by the camera; and
, if the absolute value of the difference is larger than the preset threshold, decelerating the motion of the air vehicle main body;when a value of the second reference scale information is larger than a value of the second temporary scale information, calculating a difference between the second reference scale information and the second temporary scale information by the camera; and
, if an absolute value of the difference is larger than the preset threshold, accelerating the motion of the air vehicle main body; andwhen the value of the second reference scale information is smaller than the value of the second temporary scale information, calculating the difference between the second reference scale information and the second temporary scale information; and
, if the absolute value of the difference is larger than the preset threshold, decelerating the motion of the air vehicle main body. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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Specification