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*† ‡ § Development of a vision-based target tracking algorithm for an unmanned air vehicle is described. The algorithm provides an autonomous target tracking capability, while simultaneously estimating GPS coordinates of the target. A low cost, primarily COTS system is utilized, with a modified RC aircraft airframe, gas engine and servos. Tracking is enabled using a low-cost, miniature pan-tilt gimbal, driven by COTS servos and electronics. The control algorithm provides rapid and sustained target acquisition and tracking capability. A target position estimator was designed and shown to provide reasonable targeting accuracy. Impact of target loss events on the control and estimation algorithms is analyzed in detail.
Wang et al. (Sun,) studied this question.
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