目标短时遮挡下的光电平台目标跟踪预测与控制

无人机在高空飞行并跟踪地面目标的过程中,当目标受到障碍物遮挡,会导致跟踪失败.本文建立了目标相对无人机的运动模型,设计了基于卡尔曼滤波的目标预测器,并在目标遮挡发生时利用目标角位置预测值以及姿态锁定回路实现了对目标的预测跟踪.本文运用相似性原理设计了室内目标跟踪场景.仿真和试验证明,本文所设计的预测器能较好的预测目标角位置,与控制回路相结合能克服短时间的目标跟踪丢失.

Target Tracking Forecast and Control of Photoelectric Platform for Target Occlusion Occured in Short Time

In the process of Unmanned Aerial Vehicle (UAV ) flying in the air and tracking the ground target, the track will be lost when the target is shielded . The relative motion model of target and UAV was established, the target forecast algorithm was designed,and the predictive tracking using the forecast angle of the target together with attitude lock loop was realized in this paper. The target track scene was designed indoor using the comparability principle in this paper.It was validated according to the simulation and the experimentation that the target forecast algorithm could forecast the angle of the target better,and overcome the problem of track lost in short time combined with control loop.