Abstract
In this paper, we propose a systematic framework for the ground moving target autonomous positioning with a Unmanned Aerial Vehicle (UAV). The proposed framework consists of the ground moving target positioning design and algorithm. Therein the camera mounted on the UAV functions as a mission sensor targeted for the ground moving target positioning. In this paper, We design an algorithm for the vision based mission system by using the navigation information outputted by Attitude and Heading Reference System (AHRS) and GNSS/Strapdown Inertial Navigation System (SINS) integrated navigation system, including motion detection and compensation, target detection and tracking, as well as target positioning. The experiments of the ground moving target autonomous positioning have been carried out. The test results show that the system can provide the positioning information of ground moving target for UAV.
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