Autonomous Tracking and Automatic Control of Inspection Drone Based on Guided Filtering
The autonomous tracking control process of inspection drone has always been a challenge.A guided filter-ing based autonomous tracking control method for inspection drones is proposed.Guided filtering obtains high-quality drone visual images through color space conversion,filtering layering,and weighted fusion.Based on the UAV vision image obtained,track points are detected by Laplace operator and Harris operator.Using the trajectory point as the tracking target,the autonomous tracking control of the unmanned aerial vehicle is achieved using the outer loop az-imuth controller and the inner loop posture controller.The experimental results show that the tracking azimuth devia-tion and attitude angle deviation of the inspection drone are relatively small,and the fluctuation range is stable with-in the allowable range,indicating that this method can accurately control the drone to achieve the goal of autonomous tracking,and has high practical application value.
inspection droneguided filteringedge and corner detectionautonomous trackingPID algorithmautomatic control
NETL
NSTL
万方数据
维普
