Abstract
In order to improve the reconnaissance efficiency of unmanned aerial vehicle (UAV) electro-optical stabilized imaging systems, a real-time multi-target localization scheme based on an UAV electro-optical stabilized imaging system is proposed. First, a target location model is studied. Then, the geodetic coordinates of multi-targets are calculated using the homogeneous coordinate transformation. On the basis of this, two methods which can improve the accuracy of the multi-target localization are proposed: (1) the real-time zoom lens distortion correction method; (2) a recursive least squares (RLS) filtering method based on UAV dead reckoning. The multi-target localization error model is established using Monte Carlo theory. In an actual flight, the UAV flight altitude is 1140 m. The multi-target localization results are within the range of allowable error. After we use a lens distortion correction method in a single image, the circular error probability (CEP) of the multi-target localization is reduced by 7%, and 50 targets can be located at the same time. The RLS algorithm can adaptively estimate the location data based on multiple images. Compared with multi-target localization based on a single image, CEP of the multi-target localization using RLS is reduced by 25%. The proposed method can be implemented on a small circuit board to operate in real time. This research is expected to significantly benefit small UAVs which need multi-target geo-location functions.
Highlights
Real-time multi-target localization plays an essential and significant role in disaster emergency rescue, border security and so on
This paper presents a method for determining the location of objects using a gimbaled EO camera on-board a fixed-wing unmanned aerial vehicle (UAV)
The primary contributions of this paper are: (1) the accuracy of multi-target localization has been improved due to the combination of a real-time zoom lens distortion correction method and a recursive least squares (RLS) filtering method using embedded hardware; (2) UAV geo-locates targets using embedded hardware in real-time without orbiting the targets; (3) 50 targets can be located at the same time using only one UAV; (4) the UAV can geo-locate targets without any pre-existing geo-referenced imagery, or a terrain database; (5) the circuit board is small, and can be applied to many combined, we can geo-locate multiple moving targets in real-time and obtain the target motion parameters such as velocity and trajectory
Summary
Real-time multi-target localization plays an essential and significant role in disaster emergency rescue, border security and so on. Over the past two decades, considerable research efforts have been devoted to multi-target localization. The target localization methods from UAVs are divided into two categories. One category is target localization using a group of UAVs [1,2,3,4,5]. The other category is target localization using a single UAV [6,7,8,9,10]. This research aims to improve the effectiveness and efficiency of target localization from a single UAV. This research proposes a new hybrid target localization scheme which integrates both zoom lens distortion correction and an RLS filtering method. Building of rigorous geometric processing model based on line-of-sight vector of ZY-3 imagery.
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