CN107807664A - Method for tracking target, device and unmanned plane - Google Patents
Method for tracking target, device and unmanned plane Download PDFInfo
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- CN107807664A CN107807664A CN201711229522.9A CN201711229522A CN107807664A CN 107807664 A CN107807664 A CN 107807664A CN 201711229522 A CN201711229522 A CN 201711229522A CN 107807664 A CN107807664 A CN 107807664A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The present invention relates to technical field of flight control, and in particular to a kind of method for tracking target, device and unmanned plane, methods described includes：Obtain the first movable information of tracking target and the current motion information of unmanned plane, judge whether current motion information needs to adjust, if current motion information needs to adjust, then according to the first movable information adjustment current motion information, the target movable information of unmanned plane is obtained, unmanned plane tracking tracking target is controlled according to target movable information.This method can precisely track target.
Description
Technical field
The present invention relates to technical field of flight control, in particular to a kind of method for tracking target, device and nobody
Machine.
Background technology
Unmanned plane is widely used in the fields such as electric power, maritime affairs, mapping, life ＆ amusement, and unmanned plane carries out air target tracking
With high Research Significance.
At present, unmanned plane can determine the position of tracking target, is tracked according to the position of tracking target, this tracking
Mode tracks target inaccuracy.
The content of the invention
It is an object of the invention to provide a kind of method for tracking target, device and unmanned plane, and it is intended to improve prior art
Present in above mentioned problem.
The present invention provides a kind of technical scheme：
The embodiments of the invention provide a kind of method for tracking target, and applied to unmanned plane, methods described includes：
Obtain the first movable information of tracking target and the current motion information of the unmanned plane；
Judge whether the current motion information needs to adjust, if the current motion information needs to adjust, foundation
First movable information adjusts the current motion information, obtains the target movable information of the unmanned plane；
The unmanned plane is controlled to track the tracking target according to the target movable information.
As further, the step of whether current motion information needs adjustment is judged, including：
The unmanned plane is obtained to the first distance of the tracking target；
First distance is judged whether in set distance range, if first distance is not in preset distance
In the range of, then judge that the current motion information needs to adjust.
As further, the current motion information is adjusted according to first movable information, obtains the unmanned plane
Target movable information the step of, including：
Deviation is calculated according to first movable information and the current motion information；
Determine proportionality coefficient, differential coefficient, integral coefficient and control coefrficient；
By the deviation, the proportionality coefficient, the differential coefficient, the integral coefficient and the control coefrficient and
In the first movable information input PID controller, target movable information is exported by PID controller.
As further, the step of deviation is calculated according to first movable information and the current motion information,
Including：
The difference of first movable information and the current motion information is asked for as deviation.
As the step of further, acquisition tracks the first movable information of target, including：
Receive the first movable information sent by the tracking target.
The embodiment of the present invention additionally provides a kind of target tracker, and described device includes：
Movable information module is obtained, for obtaining the first movable information of tracking target and the current kinetic letter of unmanned plane
Breath；
Movable information module is adjusted, for judging whether the current motion information needs to adjust, if the current fortune
Dynamic information needs to adjust, then adjusts the current motion information according to first movable information, obtain the mesh of the unmanned plane
Mark movable information；
Target tracking module, for controlling the unmanned plane to track the tracking target according to the target movable information.
As further, the adjustment movable information module includes：
Judging unit, for judging whether the current motion information needs to adjust, if the current motion information needs
Adjust, send adjustment information to adjustment unit；
Adjustment unit, for according to the adjustment information, the current kinetic letter to be adjusted according to first movable information
Breath, obtains the target movable information of the unmanned plane.
As further, the judging unit includes：
First is obtained apart from subelement, for obtaining the unmanned plane to the first distance of the tracking target；
Judge apart from subelement, for judging first distance whether in set distance range, if described first
Distance then judges that the current motion information needs to adjust not in the range of preset distance.
As further, the adjustment unit includes：
Calculating difference subelement, for calculating deviation according to first movable information and the current motion information；
Control coefrficient subelement is obtained, for obtaining proportionality coefficient, differential coefficient, integral coefficient and control constant；
Information adjusts subelement, for by the deviation, the proportionality coefficient, the differential coefficient, the integration system
In several and described control constant and first movable information input PID controller, by PID controller output target motion letter
Breath.
The embodiment of the present invention additionally provides a kind of unmanned plane, and the unmanned plane is connected with Deep space tracking destinations traffic, described
UAV flight has gondola, and the gondola, which is equipped with range unit, to be included：
Memory；
Processor, the processor are connected with the range unit；And
Target tracker, the target tracker are stored in the memory and including one or more by described
The software function module of computing device, it includes：
Movable information module is obtained, for obtaining the first movable information of tracking target and the current kinetic of the unmanned plane
Information；
Movable information module is adjusted, for judging whether the current motion information needs to adjust, if the current fortune
Dynamic information needs to adjust, then adjusts the current motion information according to first movable information, obtain the mesh of the unmanned plane
Mark movable information；
Target tracking module, for controlling the unmanned plane to track the tracking target according to the target movable information.
A kind of method for tracking target, device and unmanned plane provided in an embodiment of the present invention, this method track mesh by obtaining
The current motion information of the movable information of target first and unmanned plane, it is current according to unmanned plane and the first Distance Judgment of tracking target
Whether movable information, which needs, adjusts, if current motion information needs to adjust, passes through PID controller according to the first movable information
Current motion information is adjusted, obtains the target movable information of unmanned plane, control unmanned plane tracks tracking mesh with target movable information
Mark.This method can precisely track target.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is a kind of frame structure schematic diagram of unmanned plane 100 provided in an embodiment of the present invention.
Fig. 2 shows a kind of method for tracking target flow chart provided in an embodiment of the present invention.
Fig. 3 shows the frame structure schematic diagram of target tracker 200 in Fig. 1.
Fig. 4 shows the frame structure schematic diagram of adjustment movable information module 220.
Fig. 5 shows the frame structure schematic diagram of judging unit 221.
Fig. 6 shows the frame structure schematic diagram of adjustment unit 222.
Icon：100- unmanned planes；101- memories；102- processors；103- Peripheral Interfaces；104- range units；105-
Display screen；200- target trackers；210- obtains movable information module；220- adjusts movable information module；221- judges single
Member；2211- obtains first apart from subelement；2212- is judged apart from subelement；222- adjustment units；2221- calculating differences is single
Member；2222- obtains control coefrficient subelement；2223- information adjusts subelement；230- target tracking modules.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be configured to arrange and design with a variety of herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
Referring to Fig. 1, Fig. 1 is a kind of frame structure schematic diagram of unmanned plane 100 provided in an embodiment of the present invention.In this hair
In bright embodiment, unmanned plane 100 can be.Unmanned plane 100 include target tracker 200, memory 101, processor 102,
Peripheral Interface 103, range unit 104 and display screen 105.
The memory 101, processor 102, Peripheral Interface 103, range unit 104 and 105 each element of display screen are mutual
Between be directly or indirectly electrically connected with, to realize the transmission of data or interaction.For example, these elements can pass through one between each other
Bar or a plurality of communication bus or signal wire, which are realized, to be electrically connected with.The target tracker 200 include it is at least one can be with software
Or the form of firmware (firmware) is stored in the memory 101 or is solidificated in the operating system of the unmanned plane 100
Software function module in (operating system, OS).The processor 102 is used to perform what is stored in memory 101
Executable module, such as the software function module or computer program that the target tracker 200 includes.
Wherein, memory 101 may be, but not limited to, random access memory (Random Access Memory,
RAM), read-only storage (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Wherein, memory 101 is used for storage program, and the processor 102 performs described program, this hair after execute instruction is received
Method performed by the server for the flow definition that bright any embodiment discloses can apply in processor 102, or by
Reason device 102 is realized.
Processor 102 can be a kind of IC chip, have signal handling capacity.Above-mentioned processor 102 can be with
It is general processor, including central processing unit (Central Processing Unit, CPU), network processing unit (Network
Processor, NP), speech processor and video processor etc.；Can also be digital signal processor, application specific integrated circuit,
Field programmable gate array either other PLDs, discrete gate or transistor logic, discrete hardware components.
It can realize or perform disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor can be
Microprocessor or the processor 102 can also be any conventional processors etc..
The Peripheral Interface 103 is used to various input/output devices being coupled to processor 102 and memory 101.
In some embodiments, Peripheral Interface 103 and processor 102 can be realized in one single chip.In some other example, he
Can be realized respectively by independent chip.
Range unit 104 is used for measurement distance.In embodiments of the present invention, range unit 104 has a variety of, such as Laser Measuring
Away from device, shooting range unit, infrared distance measuring device etc..
Display screen 105 is used to realize interacting between user and unmanned plane 100, specifically may be, but not limited to, display screen
105 are shown the movable information of unmanned plane 100, the movable information for tracking target etc..
Referring to Fig. 2, Fig. 2 shows a kind of method for tracking target flow chart provided in an embodiment of the present invention.In the present invention
In embodiment, method for tracking target comprises the following steps：
Step S100：Obtain the first movable information of tracking target and the current motion information of unmanned plane.
In embodiments of the present invention, the first movable information represents the current motion information of tracking target, including such as first
The information such as speed, the first acceleration, first direction of motion.The embodiment of first movable information of acquisition tracking target has more
Kind, for example, actively sending the first movable information by tracking target, realize that obtaining the first motion believes by receiving the first information
Breath, in another example, the first movable information is obtained so as to realize by the first movable information of detecting and tracking target.
In embodiments of the present invention, the current motion information of unmanned plane includes present speed, current acceleration, current flight
Direction, the angle of pitch, roll angle, yaw angle etc., obtain the embodiment of the current motion information of unmanned plane have it is a variety of, for example, logical
The Inertial Measurement Unit (Inertial measurement unit, IMU) for crossing unmanned plane obtains the current kinetic letter of unmanned plane
Breath, or, the velocity measuring device by being arranged on ground measures the current motion information of unmanned plane, then working as unmanned plane
Preceding movable information sends to unmanned plane, unmanned plane and receives current motion information.In embodiments of the present invention, velocity measuring device can
To be arranged on base station or tracking target etc..
Step S200：Judge whether current motion information needs to adjust, if current motion information needs to adjust, foundation
First movable information adjusts current motion information, obtains the target movable information of unmanned plane.
In embodiments of the present invention, the step of whether current motion information needs adjustment is judged, including：1. obtain unmanned plane
To the first distance of tracking target.2. the first distance is judged whether in set distance range, if the first distance is not advance
In set distance range, then judge that current motion information needs to adjust.
In embodiments of the present invention, acquisition unmanned plane has a variety of to the embodiment of the first distance of tracking target, for example,
Measured by the range unit 104 in unmanned plane 100 and obtain unmanned plane and track the first distance between target, or, pass through
One distance-measuring equipment is set in target is tracked, unmanned plane is measured by the distance-measuring equipment and tracks the first distance between target,
First distance is sent to unmanned plane.
In embodiments of the present invention, set distance range has higher limit and lower limit, is set if it is determined that the first distance is more than
The higher limit of set a distance scope, then need reduce unmanned plane and track target between the first distance, it is possible to understand that, can with but
It is not limited to, by judging whether the current motion information of unmanned plane is more than the first movable information of tracking target, for example, current speed
Ratio between degree and First Speed is more than preset value, then needs to reduce present speed to realize reduction unmanned plane and tracking target
Between the first distance, so as to realize precisely tracking tracking target.If it is determined that the first distance is less than under set distance range
Limit value, then need, by increasing unmanned plane and tracking the first distance between target, to increase between unmanned plane and tracking target
The embodiment of first distance have it is a variety of, for example, judge whether the ratio of target velocity and First Speed is less than particular value, if
The ratio of target velocity and First Speed is less than particular value, can realize increase unmanned plane and tracking by increasing target velocity
The first distance between target.Or judge whether target direction is consistent with first direction, if target direction and first direction
It is inconsistent, then by adjust target direction and first direction be unanimously come realize increase unmanned plane and track between target first
Distance.Can also according to First Speed, the first acceleration, first direction, present speed, current acceleration and when front direction come
Adjust unmanned plane and track the first distance between target.
By using above scheme, unmanned plane can be simply and rapidly adjusted with tracking the first distance of target, further
, it can precisely track tracking target.
In embodiments of the present invention, the first distance is judged in set distance range, then need not adjust working as unmanned plane
Preceding movable information, control unmanned plane track tracking target with current motion information.
In embodiments of the present invention, according to the first movable information adjustment current motion information, the target fortune of unmanned plane is obtained
The step of dynamic information, including：1. deviation is calculated according to the first movable information and current motion information.2. determination proportionality coefficient,
Differential coefficient, integral coefficient and control coefrficient.3. it is by deviation, proportionality coefficient, differential coefficient, integral coefficient and control
In number and the first movable information input PID controller, target movable information is exported by PID controller.
In embodiments of the present invention, PID controller is set in advance.As a kind of embodiment, it is assumed that by deviation table
Be shown as e, proportionality coefficient is expressed as Kp, differential coefficient is expressed as T i, integral coefficient is expressed as T d, control coefrficient is expressed as u0,
First movable information is expressed as v0, current motion information is expressed as v1, then PID controller is：V=Kp* [e+Ti*e*v1+Td*
e*v0]+u0.Wherein, e=k | v1-v0 |, k is Changshu coefficient, and V is the target movable information of output.Implement in the present invention
, can also be using the first movable information v0 and current motion information v1 difference as deviation e in example.
In embodiments of the present invention, target movable information can be calculated using traditional PID controller.
Step S300：Unmanned plane tracking tracking target is controlled according to target movable information.
In embodiments of the present invention, step S300 embodiment be may be, but not limited to, and control unmanned plane is transported with target
Dynamic information flight, follows tracking target.
By using above scheme, the target of unmanned plane motion letter is adjusted according to the first movable information of tracking target
Breath, control unmanned plane are flown with target movable information, and unmanned plane and the movable information of tracking target can keep more constant pass
System, further so that unmanned plane can accurately track the tracking target for needing to track.
Referring to Fig. 3, Fig. 3 shows the frame structure schematic diagram of target tracker 200 in Fig. 1.Implement in the present invention
In example, target tracker 200 includes：Obtain movable information module 210, adjustment movable information module 220 and target following mould
Block 230.Obtain movable information module 210 to be connected with adjustment movable information module 220, adjustment movable information module 220 and target
Tracking module 230 connects.
Obtain movable information module 210, for obtain tracking target the first movable information and the unmanned plane it is current
Movable information.In embodiments of the present invention, movable information module 210 is obtained to can be used for performing step S100.
Movable information module 220 is adjusted, for judging whether current motion information needs to adjust, if current motion information
Need to adjust, then according to the first movable information adjustment current motion information, obtain the target movable information of unmanned plane.In the present invention
In embodiment, adjustment movable information module 220 can be used for performing step S200.
Referring to Fig. 4, Fig. 4 shows the frame structure schematic diagram of adjustment movable information module 220.In the embodiment of the present invention
In, adjustment movable information module 220 includes judging unit 221 and adjustment unit 222.Judging unit 221 connects with adjustment unit 222
Connect.
Judging unit 221, for judging whether current motion information needs to adjust, if current motion information needs to adjust
It is whole, adjustment information is sent to adjustment unit.
Referring to Fig. 5, Fig. 5 shows the frame structure schematic diagram of judging unit 221.
In embodiments of the present invention, judging unit 221 includes obtaining first apart from subelement 2211 and judges that distance is single
Member 2212.First is obtained to be connected apart from subelement 2212 with judging apart from subelement 2211.
First is obtained apart from subelement 2211, for obtaining unmanned plane to the first distance of tracking target.
Judge apart from subelement 2212, for judging the first distance whether in set distance range, if the first distance
Not in the range of preset distance, then judge that current motion information needs to adjust.
Adjustment unit 222, for according to adjustment information, according to the first movable information adjustment current motion information, obtaining nothing
Man-machine target movable information.
Referring to Fig. 6, Fig. 6 shows the frame structure schematic diagram of adjustment unit 222.In embodiments of the present invention, adjust
Unit 222 includes calculating difference subelement 2221, acquisition control coefrficient subelement 2222 and information adjustment subelement 2223.Calculate
Difference subelement 2221 is connected with obtaining control coefrficient subelement 2222, obtains control coefrficient subelement 2222 and information adjustment
Unit 2223 connects.
Calculating difference subelement 2221, for calculating deviation according to the first movable information and current motion information.
Control coefrficient subelement 2222 is obtained, it is normal for obtaining proportionality coefficient, differential coefficient, integral coefficient and control
Number.
Information adjusts subelement 2223, for deviation, proportionality coefficient, differential coefficient, integral coefficient and control is normal
In number and the first movable information input PID controller, target movable information is exported by PID controller.
Target tracking module 230, for controlling unmanned plane tracking tracking target according to target movable information.Of the invention real
Apply in example, target tracking module 230 can be used for performing step S300.
In summary, a kind of method for tracking target, device and unmanned plane provided in an embodiment of the present invention, tracked by obtaining
First movable information of target and the current motion information of unmanned plane, judge whether current motion information needs to adjust, if worked as
Preceding movable information needs to adjust, then according to the first movable information adjustment current motion information, obtains the target motion letter of unmanned plane
Breath, unmanned plane tracking tracking target is controlled according to target movable information.This method can precisely track target.By according to tracking
First movable information of target adjusts the target movable information of unmanned plane, and control unmanned plane is flown with target movable information, nothing
The man-machine movable information with tracking target can keep more constant relation.By using the party of PID controller adjustment unmanned plane
Preceding movable information, the current motion information that can precisely, effectively adjust unmanned plane obtain target movable information.According to unmanned plane
Determine a need for adjusting the current motion information of unmanned plane tracking the first distance between target, simply, conveniently, in fact
With.
In several embodiments provided herein, it should be understood that disclosed apparatus and method, can also pass through
Other modes are realized.Device embodiment described above is only schematical, for example, flow chart and block diagram in accompanying drawing
Show the device of multiple embodiments according to the present invention, method and computer program product architectural framework in the cards,
Function and operation.At this point, each square frame in flow chart or block diagram can represent the one of a module, program segment or code
Part, a part for the module, program segment or code include one or more and are used to realize holding for defined logic function
Row instruction.It should also be noted that at some as in the implementation replaced, the function that is marked in square frame can also with different from
The order marked in accompanying drawing occurs.For example, two continuous square frames can essentially perform substantially in parallel, they are sometimes
It can perform in the opposite order, this is depending on involved function.It is it is also noted that every in block diagram and/or flow chart
The combination of individual square frame and block diagram and/or the square frame in flow chart, function or the special base of action as defined in performing can be used
Realize, or can be realized with the combination of specialized hardware and computer instruction in the system of hardware.
In addition, each functional module in each embodiment of the present invention can integrate to form an independent portion
Point or modules individualism, can also two or more modules be integrated to form an independent part.
If the function is realized in the form of software function module and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.Need
Illustrate, herein, such as first and second or the like relational terms be used merely to by an entity or operation with
Another entity or operation make a distinction, and not necessarily require or imply between these entities or operation any this reality be present
The relation or order on border.Moreover, term " comprising ", "comprising" or its any other variant are intended to the bag of nonexcludability
Contain, so that process, method, article or equipment including a series of elements not only include those key elements, but also including
The other element being not expressly set out, or also include for this process, method, article or the intrinsic key element of equipment.
In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including the key element
Process, method, other identical element also be present in article or equipment.
Claims (10)
1. a kind of method for tracking target, applied to unmanned plane, it is characterised in that methods described includes：
Obtain the first movable information of tracking target and the current motion information of the unmanned plane；
Judge whether the current motion information needs to adjust, if the current motion information needs to adjust, according to described in
First movable information adjusts the current motion information, obtains the target movable information of the unmanned plane；
The unmanned plane is controlled to track the tracking target according to the target movable information.
2. method for tracking target according to claim 1, it is characterised in that judge whether the current motion information needs
The step of adjustment, including：
The unmanned plane is obtained to the first distance of the tracking target；
First distance is judged whether in set distance range, if first distance is not in preset distance scope
It is interior, then judge that the current motion information needs to adjust.
3. method for tracking target according to claim 1, it is characterised in that according to described in first movable information adjustment
Current motion information, the step of obtaining the target movable information of the unmanned plane, including：
Deviation is calculated according to first movable information and the current motion information；
Determine proportionality coefficient, differential coefficient, integral coefficient and control coefrficient；
By the deviation, the proportionality coefficient, the differential coefficient, the integral coefficient and the control coefrficient and described
In first movable information input PID controller, target movable information is exported by PID controller.
4. method for tracking target according to claim 3, it is characterised in that according to first movable information and it is described work as
Preceding movable information calculates the step of deviation, including：
The difference of first movable information and the current motion information is asked for as deviation.
5. method for tracking target according to claim 1, it is characterised in that obtain the first movable information of tracking target
Step, including：
Receive the first movable information sent by the tracking target.
6. a kind of target tracker, it is characterised in that described device includes：
Movable information module is obtained, for obtaining the first movable information of tracking target and the current motion information of unmanned plane；
Movable information module is adjusted, for judging whether the current motion information needs to adjust, if the current kinetic is believed
Breath needs to adjust, then adjusts the current motion information according to first movable information, obtains the target fortune of the unmanned plane
Dynamic information；
Target tracking module, for controlling the unmanned plane to track the tracking target according to the target movable information.
7. target tracker according to claim 6, it is characterised in that the adjustment movable information module includes：
Judging unit, for judging whether the current motion information needs to adjust, if the current motion information needs to adjust
It is whole, adjustment information is sent to adjustment unit；
Adjustment unit, for according to the adjustment information, adjusting the current motion information according to first movable information, obtaining
To the target movable information of the unmanned plane.
8. target tracker according to claim 7, it is characterised in that the judging unit includes：
First is obtained apart from subelement, for obtaining the unmanned plane to the first distance of the tracking target；
Judge apart from subelement, for judging first distance whether in set distance range, if first distance
Not in the range of preset distance, then judge that the current motion information needs to adjust.
9. target tracker according to claim 8, it is characterised in that the adjustment unit includes：
Calculating difference subelement, for calculating deviation according to first movable information and the current motion information；
Control coefrficient subelement is obtained, for obtaining proportionality coefficient, differential coefficient, integral coefficient and control constant；
Information adjust subelement, for by the deviation, the proportionality coefficient, the differential coefficient, the integral coefficient with
And in the control constant and first movable information input PID controller, target movable information is exported by PID controller.
10. a kind of unmanned plane, it is characterised in that the unmanned plane is connected with Deep space tracking destinations traffic, the UAV flight
There is gondola, the gondola, which is equipped with range unit, to be included：
Memory；
Processor, the processor are connected with the range unit；And
Target tracker, the target tracker are stored in the memory and including one or more by the processing
The software function module that device performs, it includes：
Movable information module is obtained, for obtaining the first movable information of tracking target and the current kinetic letter of the unmanned plane
Breath；
Movable information module is adjusted, for judging whether the current motion information needs to adjust, if the current kinetic is believed
Breath needs to adjust, then adjusts the current motion information according to first movable information, obtains the target fortune of the unmanned plane
Dynamic information；
Target tracking module, for controlling the unmanned plane to track the tracking target according to the target movable information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711229522.9A CN107807664A (en) | 2017-11-29 | 2017-11-29 | Method for tracking target, device and unmanned plane |
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| CN112198886A (en) * | 2019-12-31 | 2021-01-08 | 北京理工大学 | Unmanned aerial vehicle control method for tracking maneuvering target |
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