Ground Moving Target Tracking Control System Design for UAV Surveillance

Ground target detection, recognition and tracking play critical roles in aerial video surveillance applications. A ground moving target detection and tracking system based on active vision is studied firstly. After compensating the global motion, the independent moving targets are detected by the salience of residual images. Then object trackers are initialized to track these detected moving targets, at the same time, by controlling the payload equipment to achieve the given surveillance tasks. The influence of the movement of UAV to swivel table is studied and the apparent motion function is developed. In order to achieve good tracking performance, a mixed H2/H-infinite robust flight controller is designed for the UAV and a controller containing the disturbance observer (DOB) is designed for payload platform. This video servo control system successfully compensates the influence of UAV movement to swivel table control. Real-time simulation results show the effectiveness of the designed system.