Target Tracking and Forecasting Algorithm for UAV
ZHANG Xin
DENG Wen
Abstract：To solve the problems of target miss distance,which caused by the time delay during the communication in the UAV and the ground control station,firstly,an auxiliary variable particle filter tracking algorithm based on Meanshift sampling is used to track experiment. It adopts the AVPF as the main framework of the tracking algorithm,then the Meanshift is applied to cal-culate the offset of a few auxiliary particle and move them to the local optimum position of the observed values. Then based on the tracking result,Kalman filter is used to predict the target trajectory and the results in turn act on correcting the tracking results and solving the miss distance problem. The results show that having the prediction algorithm is closer to the true value and could satisfy the UAV target trajectory forecasting requirements.
Keywords：UAVtarget trackingmeanshiftAVPFKalman filter
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 1523-1527 )