Abstract The abuse of civil UAVs poses a great threat to many important facilities. Position tracking and intention discrimination of aerial targets such as civil UAVs can help operators stop the damage caused by UAVs to important facilities in time. Aiming at UAV running on elliptical trajectory, this paper presents a method to track its position and fit its elliptical trajectory according to its historical position. Firstly, the binocular camera is used to obtain the three-dimensional coordinates of the target, then the state of the target is estimated by the UKF, and finally the ellipse is fitted according to the historical position of the target. To a certain extent, this method realizes the automatic identification of target intention. The simulation results show that this method can realize UAV position tracking. At the same time, after a certain number of historical positions have been reached, the ellipse can be fitted to its trajectory.
Position Tracking and Ellipse Fitting of UAV Flying by Elliptical Trajectory
2019-09-08
10 pages
Article/Chapter (Book)
Electronic Resource
English
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