Transactions of Nanjing University of Aeronautics & Astronautics
Special Issue for UAV
UAV Optical Velocity Measurement for Moving Target
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Abstract:
To satisfy the demand of measuring the velocity of ground moving target through unmanned aerial vehicle (UAV) electro-optical platform, two velocity measurement methods are proposed. Firstly, a velocity measurement method based on target localization is derived, using the position difference between two points with the advantages of easy deployment and realization. Then a mathematical model for measuring target velocity is built and described by 15 variables, i.e. UAV velocity, UAV attitude angular rate, camera direction angular rate and so on. Moreover, the causes of velocity measurement error are analyzed and a formula is derived for calculating the measurement error. Finally, the simulation results show that angular rate error has a strong influence on the velocity measurement accuracy, especially the UAV pitch angular rate error, roll angular rate error and the camera angular altitude rate error, thus indicating the direction for improving velocity measurement precision.
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Project Supported:
This work was supported by the Aeronautical Science Foundation of China (No. 61106018).
Clc Number:
TH74
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