本文为加拿大多伦多大学（作者：Denys Bohdanov）的硕士论文，共85页。

研究了基于视觉传感的四旋翼无人机（UAV）对运动目标的远距跟踪问题。采用比例积分微分（PID）控制器实现了无人机的姿态稳定。针对运动目标跟踪任务，设计并实现了基于LQG（线性二次高斯）的四旋翼位置控制律。提出了一种新的基于视觉的估计算法，基于目标的有限信息实现了对四旋翼位置、高度和偏航角的估计。针对一系列图像的特征检测和特征跟踪任务，实现了两种图像处理算法并进行了比较。将图像处理算法与四旋翼控制相结合，进行了测试实验，验证了本文所提出的控制和估计方法。

The problem of stand-off tracking of a moving target using a quadrotor unmanned aerial vehicle (UAV) based on vision-sensing is investigated. A PID (Proportional-IntegralDerivative) controller is implemented for attitude stabilization of the quadrotor. An LQG-based (Linear-Quadratic-Gaussian) control law is designed and implemented for position control of the quadrotor for a moving target tracking task. A novel vision-based estimation algorithm is developed, enabling estimation of quadrotor's position, altitude and yaw relative to the target based on limited information about the target. Two image processing algorithms are implemented and compared for the task of feature detection and feature tracking in a series of images. Image processing algorithms are integrated with quadrotor control and experiments are performed to validate proposed control and estimation approaches.

1 引言

2 四旋翼模型

3 四旋翼控制

4 基于视觉的估计

5 仿真

6 实验

7 结论 

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