Research on target location of unmanned aerial vehicles in parallel path

Graduate School of PLA Army Engineering University, Nanjing Jiangsu, China

^* Corresponding author: lhdzgn@163.com

Abstract

This paper mainly studies how to use the stereo vision system that combines the monocular vision with parallel path search to locate the target. When the unmanned aerial vehicle (UAV) searches in the mission area according to the parallel path, the SSD image detection algorithm based on deep learning is adopted to detect and identify the target in the area. The image coordinate information is inversely calculated by using the pixel coordinate information fed back by machine vision. The auxiliary coordinate system is established according to the relationship of angle position between the track line and the basic coordinate system in the parallel path. Combining the position relation and the attitude direction information of UAV, the target position conversion relation between the imaging coordinate system and the auxiliary coordinate system is solved by using the direction cosine matrix. Combined with the coordinate information of UAV, the coordinate position of the target point in the basic coordinate system is finally solved through three coordinate conversion operations. In order to avoid the single calculating error of the target coordinates, the weighted average operation is carried out. On the basis of not changing the search trip of the parallel path, the target location function is preliminarily realized through the reverse solution and the weighted average operation of the target coordinates.