Abstract
This paper presents a fully autonomous quadrotor helicopter for a ground target tracking mission. Our navigation scheme by integrating inertial navigation system (INS), optical flow, and altimeter is proposed to achieve motion estimation in GPS-denied environments. The optical flow based localization algorithm is designed to estimate the translational velocity and position, and an extended Kalman filter (EKF) is employed to estimate the flight altitude and vertical velocity of the quadrotor. A downward-looking camera is installed at the bottom of the quadrotor so as to achieve autonomous detection and tracking of a ground moving target. As visual observations of the special target can be obtained, the reference trajectories of the quadrotor will be generated according to the target moving trajectories. An improved cascaded proportional-integral-derivative (PID) controller based on visual feedback is designed for the quadrotor helicopter. A finite state machine (FSM) is used to accomplish the whole autonomous flight process robustly. Finally, the superiority tracking performance of the proposed controller is verified by real-time indoor experiments.
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Acknowledgements
This work was supported by the Key Projects of Tian** National Science Foundation (No. 18JCZDJC96700), the Scientific Research Project of Tian** Education Commission (No. 2019KJ013), and the National College Students Innovation Training Program (No. 201910058008).
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Guo, J., Chen, Z., Wang, J., Zou, P. (2022). A Ground Moving Target Tracking System for a Quadrotor in GPS-Denied Environments. In: Yan, L., Duan, H., Yu, X. (eds) Advances in Guidance, Navigation and Control . Lecture Notes in Electrical Engineering, vol 644. Springer, Singapore. https://doi.org/10.1007/978-981-15-8155-7_246
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DOI: https://doi.org/10.1007/978-981-15-8155-7_246
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