The invention discloses a method for tracking a moving source by using a single unmanned aerial vehicle. The method specifically comprises the following steps: step 1, acquiring the distance between the single unmanned aerial vehicle and a moving source in real time by a UWB sensor mounted on the single unmanned aerial vehicle; 2, when the moving source moves linearly at a constant speed according to a certain speed direction, calculating the relative speed of the moving source relative to the single unmanned aerial vehicle according to the distance collected by the UWB sensor in real time and a relative speed conversion method so as to estimate the speed direction of the moving source , and calculating the speed vs of the moving source according to the speed direction of the moving source; and step 3, calculating the relative speed of the single unmanned aerial vehicle relative to the moving source according to the speed of the moving source, and estimating the position of the moving source based on a multi-point data fusion strategy. The method is simple and effective in algorithm and clear in logic, and an accurate speed estimation algorithm and a rapid source position positioning method are provided for the moving source tracking problem.
本发明公开了一种使用单架无人机追踪移动源的方法,具体为:步骤1:安装在单架无人机上的UWB传感器实时采集单架无人机与移动源之间的距离;步骤2:当移动源按照某个速度方向匀速直线运动时,根据UWB传感器实时采集到的距离以及相对速度变换的方法计算移动源相对于单架无人机的相对速度,从而估计移动源速度方向,根据移动源速度方向计算移动源的速度vs;步骤3:根据移动源的速度,计算得到单架无人机相对于移动源的相对速度,并基于多点数据融合策略,估计移动源的位置。本发明算法简单有效,逻辑清晰,针对移动源追踪问题给出了一种精确的速度估计算法和快速的源位置定位方法。
Method for tracking moving source by using single unmanned aerial vehicle
一种使用单架无人机追踪移动源的方法
07.09.2021
Patent
Elektronische Ressource
Chinesisch
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