Journal of Jilin University(Engineering and Technology Edition) ›› 2023, Vol. 53 ›› Issue (3): 832-840.doi: 10.13229/j.cnki.jdxbgxb20220425

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Ground moving target search and location with multi⁃unmanned aerial vehicles

Zhuo-jun XU1(),Yao-xiang WANG1,Xing HUANG1,Cheng PENG2   

  1. 1.College of Communication Engineering，Jilin University，Changchun 130022，China
    2.Changchun Institute of Optics，Fine Mechanics and Physics，Chinese Academy of Sciences，Changchun 130033，China
  • Received:2022-04-17 Online:2023-03-01 Published:2023-03-29

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Abstract:

In order to improve the efficiency of multi-unmanned aerial vehicle search， reduce the error impact caused by operation and communication delay， and improve the positioning accuracy in the actual search process： the man-machine manually searched for the frame to select the target and extracted the shared information of the target； then the other machine used YOLOv3 to automatically detect and locate the target according to the shared information； finally， a KCF-based delay error compensation algorithm was designed to estimate and compensate the coordinate error in the selection process. The experimental results show that the above method effectively improves the efficiency and accuracy of multi-machine search and positioning.

Key words: control theory and control engineering, multi-UAV, target search, error compensation

CLC Number: 

  • TP242

Fig.1

Positioning schematic"

Fig.2

Relationship diagram of pixel coordinate system and image coordinate system"

Fig.3

Relationship between coordinate systems"

Fig.4

Network structure of YOLOv3"

Fig.5

Structure of Darknet-53"

Fig.6

Selected map before information sharing"

Fig.7

Selected map after information sharing"

Fig.8

Error curve of working condition 1"

Fig.9

Comparison experiment diagram of different delay results in condition 1"

Fig.10

Error curve of working condition 2"

Fig.11

Comparison experiment diagram of different delay results in condition 2"

Fig.12

Error curve of working condition 3"

Fig.13

Comparison experiment diagram of different delay results in condition 3"

Table 1

Running time of error compensation algorithm for each working conditions"

运行次数工况1工况2工况3
平均值0.10460.18740.2149
10.11200.18980.2136
20.10320.18630.2185
30.09850.18620.2125
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